what does output mean --save-dir?
IDONTSUDO opened this issue · comments
Hello, thank you very much for the work you have done. I'm trying to integrate your toolpath solution into my automated assembly project. The --save-dir argument generates a set of arrays with a length of 100 nested arrays on my test build. In the example, I reduced it to three nested arrays. Could you explain what the numbers in these arrays mean?
This is the output of the t_plan variable from https://github.com/yunshengtian/Assemble-Them-All/blob/main/baselines/run_joint_plan.py#LL310C21-L310C25
[[ 1.00000000e+00 0.00000000e+00 0.00000000e+00 2.64617134e-32]
[ 0.00000000e+00 1.00000000e+00 0.00000000e+00 -3.78024540e-32]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53810015e+00]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]
[[ 1.00000000e+00 0.00000000e+00 0.00000000e+00 4.52211259e-32]
[ 0.00000000e+00 1.00000000e+00 0.00000000e+00 -6.46016192e-32]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62850025e+00]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]
[[ 1.00000000e+00 0.00000000e+00 0.00000000e+00 4.66938017e-32]
[ 0.00000000e+00 1.00000000e+00 0.00000000e+00 -6.67054421e-32]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71410026e+00]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]
Hi @IDONTSUDO , I think this is the output from path instead of t_plan. path is a list of states that correspond to a motion trajectory for disassembly, and t_plan is the total time spent on planning.
To be more clear, each state in the path is defined as a 4x4 transformation matrix on the moving part.
@yunshengtian thx!