67 lines
3.0 KiB
Python
67 lines
3.0 KiB
Python
import numpy as np
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from data_gen_dependencies.action.base import StageTemplate
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class TwistStage(StageTemplate):
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DELTA_DISTANCE = 0.01 # meter
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def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), extra_params=None, objects = [], **kwargs):
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super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
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self.passive_obj = objects[passive_obj_id]
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self.active_obj = objects[active_obj_id]
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self.joint_position_threshold = passive_element.get('joint_position_threshold', 0.7)
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if self.joint_position_threshold is None:
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self.joint_position_threshold = 0.7
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self.correspond_joint_id = passive_element.get('correspond_joint_id', None)
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correspond_joint_info = self.passive_obj.joints_info[self.correspond_joint_id]
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self.joint_lower_limit = correspond_joint_info["lower_bound"]
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self.joint_upper_limit = correspond_joint_info["upper_bound"]
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if self.joint_lower_limit is None or self.joint_upper_limit is None:
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self.twist_degree_range = np.pi
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else:
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self.twist_degree_range = abs(self.joint_upper_limit - self.joint_lower_limit)
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self.joint_axis = correspond_joint_info["joint_axis"]
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self.joint_type = correspond_joint_info["joint_type"]
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assert self.joint_type == 'continuous', "joint_type must be continuous for twist action"
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if self.joint_position_threshold is None:
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self.joint_position_threshold = 0.7
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assert self.joint_position_threshold >= 0 and self.joint_position_threshold <= 1
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self.joint_direction = passive_element.get('joint_direction', 1)
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assert self.joint_direction in [-1, 1]
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self.joint_velocity_threshold = passive_element.get('joint_velocity_threshold', 999)
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vector_direction = passive_element['direction']
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self.extra_params = {} if extra_params is None else extra_params
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self.generate_substage(target_pose, vector_direction)
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def generate_substage(self, target_pose, vector_direction):
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vector_direction = vector_direction / np.linalg.norm(vector_direction)
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delta_twist_pose = self.axis_angle_to_matrix(np.asarray([0,0,1]), self.twist_degree_range * self.joint_position_threshold * self.joint_direction)
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import ipdb;ipdb.set_trace()
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self.sub_stages.append([delta_twist_pose, None, np.eye(4), 'local_gripper'])
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def axis_angle_to_matrix(self, axis, angle):
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axis = axis / np.linalg.norm(axis)
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K = np.array([[0, -axis[2], axis[1]],
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[axis[2], 0, -axis[0]],
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[-axis[1], axis[0], 0]])
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R = np.eye(3) + np.sin(angle) * K + (1 - np.cos(angle)) * (K @ K)
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T = np.eye(4)
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T[:3, :3] = R
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return T
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def check_completion(self, objects):
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if self.__len__() == 0:
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return True
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succ = False
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if self.step_id >= 0:
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succ = True
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if succ:
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self.step_id += 1
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return succ |