Comments (3)
To generate random scenes with an object on top of a table, we drop every object onto the table 100 times randomly. This will generate 100 affine transform matrices for each objects, which are recorded in poses.npy
. When you apply a matrix to some object, the object will be rotated and translated so that it lies stably on the z=0
plane. pcs_table.npy
records the 100 table-top scenes in the form of point clouds, with the first 3000 points sampled from the object, and the last 1000 points from the table using furthest point sampling. You can visualize the point cloud in this script, change --num
to an integer in [0, 100) to visualize different poses in our object dataset.
However, when we generate the table-top grasp dataset, we only use the table plane rather than the entire transform matrix. That is to say, for each grasp, we first randomly sample a transform matrix from poses.npy
, then extract the table plane Ax + By + Cz + D = 0
in the object reference frame. You can verify that (A, B, C) == pose_matrix[2, :3]
and D == pose_matrix[2, 3] * object_scale
. As a result, in order to retrieve the correspondence between a grasp and a pose matrix, we need to find the matrix with the smallest |(A, B, C) - pose_matrix[2, :3]|
in poses.npy
. Use this script to visualize a grasp.
In retrospect, there could be better ways to do this, but the code was running fine so we didn't find it necessary to change it...
from unidexgrasp.
Thank you very much. So, the 'plane' in grasp file (e.g. "pose/core/bottle-asdasfja12jaios9012/00000.npz") is the table plane of the correspondence object pose. Is that correct?
from unidexgrasp.
Yes.
from unidexgrasp.
Related Issues (20)
- Joint training in grasp generation HOT 8
- Distilled policy student model checkpoint
- Provided checkpoint model is inconsistent with the latest code HOT 8
- "It seems that I'm missing some utility files related to 'data'." HOT 2
- CSDF ---identifier "CHECK_EQ" is undefined HOT 3
- The error "ValueError: num_samples should be a positive integer value, but got num_samples=0" occurs during data loading. HOT 1
- I have a question about training time HOT 2
- The code for the Dataset Generation HOT 2
- Possible Bug in pointcloud observation. HOT 1
- Question about object data. HOT 2
- Will you finished the dex_generation part? HOT 1
- Question about data HOT 1
- good
- Dataset issues HOT 17
- [Error] [carb.gym.plugin] Gym cuda error: out of memory: ../../../source/plugins/carb/gym/impl/Gym/GymPhysX.cpp: 1721 HOT 15
- Pre-trained Checkpoints HOT 4
- Bad allocate and PyTorch.cannot allocate memory HOT 8
- seemed missed a file /algo/pn_utils/maniskill_learn/utils/data HOT 2
- Choose "random" or "grid" for function generate_queries in ipdf_network.py HOT 2
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