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DFKI-NI / grasplan

Grasplan: Simple grasp planning for robots
MIT License
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place: investigate why for some objects the required dimension is 1 and for some others is 2 #10

Closed oscar-lima closed 7 months ago

oscar-lima commented 11 months ago

see: https://github.com/aprilprojecteu/grasplan/commit/c8a27e6fa6685c20a441b1e61b4aeb7fc40634b1

is it because the power drill mesh is transformed? I think I remember that when recording grasps this particular object also gave trouble...

mintar commented 11 months ago

No, it's because of the orientation of the mesh. The following image shows the power_drill_with_grip, the multimeter and the hot_glue_gun, and also the mesh coordinate system (I shifted the power drill and hot glue gun along the Y axis so they all fit into one image).

snapshot00

As you can see, the multimeter is in the "normal" orientation (according to ROS standards), i.e., the "upwards" axis of the mesh is +z, so the required dimension is the third dimension (index 2).

For the power drill and hot glue gun, the "upwards" axis of the mesh is -y, so the required dimension is the second dimension (index 1).

This is a bit unfortunate; the reason for this is that we just took the original meshes from the YCB object + mesh data set, and we intentionally kept the orientation so that the results from DOPE are comparable to the YCB-Video data set. Then for the hot glue gun I intentionally oriented it to be similar to the power drill, so that the grasps etc. are similar.