| |
| |
| @@ -347,7 +347,7 @@ |
| PICK_HEIGHT = 0.04 if ROBOT == "go2_arm" else 0.12 |
| |
| |
| -def pick_top_down(ctx, name: str, *, also_ignore=(), pre_height: float = PICK_HEIGHT, lift: float = PICK_HEIGHT, tcp_height: float = GRASP_TCP_HEIGHT, via_x: float | None = None, square: bool = False, label: str = "pick", tilt: float | None = None, lift2: tuple[float, float] | None = None): |
| +def pick_top_down(ctx, name: str, *, also_ignore=(), pre_height: float = PICK_HEIGHT, lift: float = PICK_HEIGHT, tcp_height: float = GRASP_TCP_HEIGHT, via_x: float | None = None, square: bool = False, label: str = "pick", tilt: float | None = None, lift2: tuple[float, float] | None = None, regrip: int = 0, centre_tol: float = 0.012): |
| """Phases that pinch the loose rigid object ``name`` from above across its short horizontal axis and lift it ``lift``. |
| |
| The dataset objects (dice, pens, rubber blocks) are annotated with dexterous-hand candidates the stock ``Grasp`` skill cannot use with the |
| @@ -380,6 +380,20 @@ |
| yield move_to(tcp + np.array([0.0, 0.0, pre_height]), down, closing, MOVE_PRE, f"{label}:pre") |
| yield from settle_at(ctx, tcp, down, closing, label=f"{label}:down") |
| yield hand("close", f"{label}:close") |
| + # N052 experiment (opt-in, default off): after the pinch closes, check the object sits between the pads along the closing axis. If it is off-centre by more |
| + # than centre_tol the pinch is asymmetric (536 s101: the left pad tip hit the scale plate, the right pad closed to the stop at ~0 force, the dice ended 5 cm to |
| + # one side), so open, re-descend on the object's CURRENT position and close again (at most `regrip` times). |
| + for k in range(regrip): |
| + obj, _ = ctx.object(name) |
| + eef, _ = ctx.eef() |
| + off = float(np.dot(np.asarray(obj, dtype=float) - np.asarray(eef, dtype=float), np.asarray(closing, dtype=float))) |
| + if abs(off) <= centre_tol: |
| + break |
| + yield hand("open", f"{label}:regrip{k}:open") |
| + tcp = np.asarray(obj, dtype=float) + np.array([0.0, 0.0, tcp_height]) |
| + yield move_to(tcp + np.array([0.0, 0.0, 0.03]), down, closing, MOVE_LINEAR, f"{label}:regrip{k}:up") |
| + yield from settle_at(ctx, tcp, down, closing, label=f"{label}:regrip{k}:down") |
| + yield hand("close", f"{label}:regrip{k}:close") |
| yield move_to(tcp + np.array([0.0, 0.0, lift]), down, closing, MOVE_LINEAR, f"{label}:lift") |
| if lift2 is not None and ROBOT == "go2_arm": |
| yield move_to(tcp + np.array([0.0, 0.0, float(lift2[1])]), go2_approach(ctx, tcp, closing, float(lift2[0])), closing, MOVE_LINEAR, f"{label}:lift2") |
|
|
