- franka_local_grasp_pose = hand_pose_inv * finger_pose
- franka_local_grasp_pose.p += gymapi.Vec3(*get_axis_params(0.04, grasp_pose_axis))
- self.franka_local_grasp_pos = to_torch([franka_local_grasp_pose.p.x, franka_local_grasp_pose.p.y,
- franka_local_grasp_pose.p.z], device=self.device).repeat((self.num_envs, 1))
- self.franka_local_grasp_rot = to_torch([franka_local_grasp_pose.r.x, franka_local_grasp_pose.r.y,
- franka_local_grasp_pose.r.z, franka_local_grasp_pose.r.w], device=self.device).repeat((self.num_envs, 1))
-
- drawer_local_grasp_pose = gymapi.Transform()
- drawer_local_grasp_pose.p = gymapi.Vec3(*get_axis_params(0.01, grasp_pose_axis, 0.3))
- drawer_local_grasp_pose.r = gymapi.Quat(0, 0, 0, 1)
- self.drawer_local_grasp_pos = to_torch([drawer_local_grasp_pose.p.x, drawer_local_grasp_pose.p.y,
- drawer_local_grasp_pose.p.z], device=self.device).repeat((self.num_envs, 1))
- self.drawer_local_grasp_rot = to_torch([drawer_local_grasp_pose.r.x, drawer_local_grasp_pose.r.y,
- drawer_local_grasp_pose.r.z, drawer_local_grasp_pose.r.w], device=self.device).repeat((self.num_envs, 1))
-
- self.gripper_forward_axis = to_torch([0, 0, 1], device=self.device).repeat((self.num_envs, 1))
- self.drawer_inward_axis = to_torch([-1, 0, 0], device=self.device).repeat((self.num_envs, 1))
- self.gripper_up_axis = to_torch([0, 1, 0], device=self.device).repeat((self.num_envs, 1))
- self.drawer_up_axis = to_torch([0, 0, 1], device=self.device).repeat((self.num_envs, 1))
-
- self.franka_grasp_pos = torch.zeros_like(self.franka_local_grasp_pos)