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GeWu-Lab / LLM_articulated_object_manipulation

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handle.yaml question #1

Open AnnabellaMacaluso opened 9 months ago

AnnabellaMacaluso commented 9 months ago

Hello! I was wondering which coordinate frame the position in handle.yaml is associated with? Trying to visualize it in a separate renderer and am unable to get the positions in handle.yaml to align with the partnet objects. Any insight would be greatly appreciated.

xwinks commented 9 months ago

Thank you for your interest in our work! We processed the URDF files of the dataset so that each URDF file contains only one manipulable joint, and the handle position is associated with this manipulable joint. To obtain the handle position, we load objects in the Omniverse Platform and mark the handle corresponding to the manipulable joint.

You could refer to line 582 in human_manipulation.py to get more details about how to convert the handle position into the world coordinate frame.

handle_pos = quat_apply(door_quat, object_load_handle_poses) + door_pos