Better wat to get (x,y) offset of the SO101 asset?

[KeuntekLee]

Hi. Thanks for great work.
Have some question about calculating offset of the SO101 arm.
In the state machine generation code, the offsets of x, y are hard-coded. Is there any better way to calcuate it with desired quaternion?(https://github.com/LightwheelAI/leisaac/blob/main/source/leisaac/leisaac/datagen/state_machine/pick_orange.py)

hover_target = orange_pos_w.clone()
hover_target[:, 0] -= 0.03
hover_target[:, 1] -= 0.01

[Papaercold]

Yes, that’s correct. I was mainly focused on quickly getting a working solution for data generation, so the implementation isn’t very polished. This script is intended more as an example than a production-ready pipeline. The computation you mentioned was not part of our initial scope.

If you have time, feel free to submit a fix, along with any extensions to the state machine functionality. We will be happy to review them quickly.

Thanks again for pointing this out.