48 lines
1.7 KiB
Python
48 lines
1.7 KiB
Python
import numpy as np
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from data_gen_dependencies.action.base import StageTemplate, pose_difference
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class SlideStage(StageTemplate):
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def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), active_obj=None, passive_obj=None, **kwargs):
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super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
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self.pre_distance = 0.0
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self.move_distance = 0.08
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vector_direction = passive_element['direction']
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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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# slide
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move_pose = target_pose.copy()
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move_pose[:3,3] += vector_direction * self.move_distance
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self.sub_stages.append([move_pose, None, np.eye(4), 'Simple'])
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# open gripper
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self.sub_stages.append([None, 'open', np.eye(4), None])
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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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sub_stage = self.sub_stages[self.step_id]
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move_transform, gripper_action = sub_stage[0], sub_stage[1]
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if gripper_action=='open':
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self.step_id += 1
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return True
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last_pose = self.last_statement['objects'][self.passive_obj_id].obj_pose
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target_obj_pose = last_pose @ move_transform
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current_obj_pose = objects[self.passive_obj_id].obj_pose
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pos_diff, _ = pose_difference(current_obj_pose, target_obj_pose)
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succ = pos_diff < 0.04
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#print(pos_diff, succ)
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if succ:
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self.step_id += 1
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return succ
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