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chore: 修改了采数时的一些参数

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gouhanke
2026-02-26 17:09:40 +08:00
parent 4e0add4e1d
commit f27e397f98
2 changed files with 5 additions and 5 deletions
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2
roboimi/assets/models/manipulators/DianaMed/table_square.xml
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@@ -8,6 +8,6 @@
</body> </body>
<camera name="top" pos="0.0 1.0 2.0" fovy="44" mode="targetbody" target="table"/> <camera name="top" pos="0.0 1.0 2.0" fovy="44" mode="targetbody" target="table"/>
<camera name="angle" pos="0.0 0.0 2.0" fovy="37" mode="targetbody" target="table"/> <camera name="angle" pos="0.0 0.0 2.0" fovy="37" mode="targetbody" target="table"/>
<camera name="front" pos="0 0 0.9" fovy="55" mode="fixed" quat="0.7071 0.7071 0 0"/> <camera name="front" pos="0 0 0.8" fovy="65" mode="fixed" quat="0.7071 0.7071 0 0"/>
</worldbody> </worldbody>
</mujoco> </mujoco>

8
roboimi/demos/diana_policy.py
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@@ -104,8 +104,8 @@ class TestPickAndTransferPolicy(PolicyBase):
{"t": 1, "xyz": init_mocap_pose_right[:3], "quat": init_mocap_pose_right[3:], "gripper": -100}, # sleep {"t": 1, "xyz": init_mocap_pose_right[:3], "quat": init_mocap_pose_right[3:], "gripper": -100}, # sleep
{"t": 75, "xyz": np.array([(0.8+box_xyz[0])*0.5,(1.0+box_xyz[1])*0.5,init_mocap_pose_right[2]]), "quat": gripper_approach_quat.elements, "gripper": 100}, {"t": 75, "xyz": np.array([(0.8+box_xyz[0])*0.5,(1.0+box_xyz[1])*0.5,init_mocap_pose_right[2]]), "quat": gripper_approach_quat.elements, "gripper": 100},
{"t": 225, "xyz": box_xyz + np.array([0, 0, 0.3]), "quat": gripper_pick_quat.elements, "gripper": 100}, # approach the cube {"t": 225, "xyz": box_xyz + np.array([0, 0, 0.3]), "quat": gripper_pick_quat.elements, "gripper": 100}, # approach the cube
{"t": 275, "xyz": box_xyz + np.array([0, 0, 0.12]), "quat": gripper_pick_quat.elements, "gripper": 100}, # go down {"t": 275, "xyz": box_xyz + np.array([0, 0, 0.11]), "quat": gripper_pick_quat.elements, "gripper": 100}, # go down
{"t": 280, "xyz": box_xyz + np.array([0, 0, 0.12]), "quat": gripper_pick_quat.elements, "gripper": -100}, # close gripper {"t": 280, "xyz": box_xyz + np.array([0, 0, 0.11]), "quat": gripper_pick_quat.elements, "gripper": -100}, # close gripper
{"t": 450, "xyz": init_mocap_pose_right[:3], "quat": init_mocap_pose_right[3:], "gripper": -100},# approach wait position {"t": 450, "xyz": init_mocap_pose_right[:3], "quat": init_mocap_pose_right[3:], "gripper": -100},# approach wait position
{"t": 500, "xyz": meet_xyz + np.array([0.1, 0, 0.0]), "quat": meet_right_quat.elements, "gripper": -100},# approach meet position {"t": 500, "xyz": meet_xyz + np.array([0.1, 0, 0.0]), "quat": meet_right_quat.elements, "gripper": -100},# approach meet position
{"t": 510, "xyz": meet_xyz + np.array([0.1, 0, 0.0]), "quat": meet_right_quat.elements, "gripper": 100}, # open gripper {"t": 510, "xyz": meet_xyz + np.array([0.1, 0, 0.0]), "quat": meet_right_quat.elements, "gripper": 100}, # open gripper
@@ -116,8 +116,8 @@ class TestPickAndTransferPolicy(PolicyBase):
self.left_trajectory = [ self.left_trajectory = [
{"t": 1, "xyz": init_mocap_pose_left[:3], "quat": init_mocap_pose_left[3:], "gripper": -100},# sleep {"t": 1, "xyz": init_mocap_pose_left[:3], "quat": init_mocap_pose_left[3:], "gripper": -100},# sleep
{"t": 250, "xyz": meet_xyz + np.array([-0.5, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": 100}, # approach meet position {"t": 250, "xyz": meet_xyz + np.array([-0.5, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": 100}, # approach meet position
{"t": 500, "xyz": meet_xyz + np.array([-0.15, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": 100}, # move to meet position {"t": 500, "xyz": meet_xyz + np.array([-0.14, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": 100}, # move to meet position
{"t": 505, "xyz": meet_xyz + np.array([-0.15, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # close gripper {"t": 505, "xyz": meet_xyz + np.array([-0.14, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # close gripper
{"t": 675, "xyz": meet_xyz + np.array([-0.3, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # move left {"t": 675, "xyz": meet_xyz + np.array([-0.3, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # move left
{"t": 700, "xyz": meet_xyz + np.array([-0.3, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # stay {"t": 700, "xyz": meet_xyz + np.array([-0.3, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # stay
] ]