ravens/agents/gt_state.py
def act_to_gt_act(self, act, t_worldaug_world=None, transform_params=None):
        """Daniel: similarly, from action, create the appropriate ground truth action.

        This may involve a transformation if doing data augmentation.
        Comment from Andy/Pete: dont update theta due to suction invariance to theta
        """
        pick_se2, _, _ = self.extract_x_y_theta(act['params']['pose0'], t_worldaug_world, preserve_theta=True)
        place_se2, _, _ = self.extract_x_y_theta(act['params']['pose1'], t_worldaug_world, preserve_theta=True)
        return np.hstack((pick_se2, place_se2)).astype(np.float32)
Daniel: similarly, from action, create the appropriate ground truth action.

        This may involve a transformation if doing data augmentation.
        Comment from Andy/Pete: dont update theta due to suction invariance to theta
        
similarly, from action, create the appropriate ground truth action.
This may involve a transformation if doing data augmentation.
Comment from Andy/Pete: dont update theta due to suction invariance to theta
similarly from action create the appropriate ground truth action . This may involve a transformation if doing data augmentation . Comment from Andy / Pete : dont update theta due to suction invariance to theta
def act_to_gt_act(self, act, t_worldaug_world=None, transform_params=None):
        pick_se2, _, _ = self.extract_x_y_theta(act['params']['pose0'], t_worldaug_world, preserve_theta=True)
        place_se2, _, _ = self.extract_x_y_theta(act['params']['pose1'], t_worldaug_world, preserve_theta=True)
        return np.hstack((pick_se2, place_se2)).astype(np.float32)
def act_to_gt_act ( self , act , t_worldaug_world = None , transform_params = None ) : pick_se2 , _ , _ = self . extract_x_y_theta ( act [ 'params' ] [ 'pose0' ] , t_worldaug_world , preserve_theta = True ) place_se2 , _ , _ = self . extract_x_y_theta ( act [ 'params' ] [ 'pose1' ] , t_worldaug_world , preserve_theta = True ) return np . hstack ( ( pick_se2 , place_se2 ) ) . astype ( np . float32 )
Daniel: similarly, from action, create the appropriate ground truth action.
Daniel : similarly from action create the appropriate ground truth action .
"""Daniel: similarly, from action, create the appropriate ground truth action.

        This may involve a transformation if doing data augmentation.
        Comment from Andy/Pete: dont update theta due to suction invariance to theta
        """
self
act
t_worldaug_world
transform_params