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additioanl articulation tools

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This commit is contained in:
Leon998
2026-03-20 15:24:25 +08:00
parent 76e451ea0e
commit cb06d01baf
98 changed files with 2364 additions and 2 deletions
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2
workflows/simbox/core/configs/tasks/art/franka/close_the_laptop/close_the_laptop.yaml
View File

@@ -61,7 +61,7 @@ tasks:
random_config:
pos_range: [
[-0.025, -0.50, -0.1],
[0.025, -0.50, 0.1]
[0.025, -0.50, 0.0]
]
yaw_rotation: [0.0, 0.0]

20
workflows/simbox/core/skills/close.py
View File

@@ -46,6 +46,7 @@ class Close(BaseSkill):
]
self.collision_valid = True
self.process_valid = True
self.success_mode = self.planner_setting.get("success_mode", "zero")
def setup_kpam(self):
self.planner = KPAMPlanner(
@@ -190,5 +191,22 @@ class Close(BaseSkill):
)
curr_joint_p = self.art_obj._articulation_view.get_joint_positions()[:, self.art_obj.object_joint_index]
init_joint_p = self.art_obj.articulation_initial_joint_position
return np.abs(curr_joint_p) <= self.success_threshold and self.collision_valid and self.process_valid
print(
"curr_joint_p: ", curr_joint_p,
"init_joint_p: ", init_joint_p,
"distance: ", np.abs(curr_joint_p - init_joint_p),
"collision_valid :",
self.collision_valid,
"process_valid :",
self.process_valid,
)
if self.success_mode == "zero":
return np.abs(curr_joint_p) <= self.success_threshold and self.collision_valid and self.process_valid
elif self.success_mode == "dis_to_init":
return (
np.abs(curr_joint_p - init_joint_p) >= np.abs(self.success_threshold)
and self.collision_valid
and self.process_valid
)