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Kamalnl92 / Self-Supervised-Learning-for-pushing-and-grasping

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Questions #2

Open biosbeta opened 2 months ago

biosbeta commented 2 months ago

Very nice work! I've been trying to reproduce your algorithm on an actual robotic arm.But I don't know how to adjust heightmap_resolution since the camera I used is not SR 300.Could you please tell me how to adjust this parameter？The camera I am using is orbbec Femto Mega，1280x720 resolution（This is the default minimum resolution）

wyl1253 commented 1 week ago

Hi Biosbeta,

Regarding the camera configuration, since we convert raw RGBD data to heightmaps, it's essential to configure parameters like the field of view (FOV) and other camera settings appropriately. I cannot provide you with a direct file for the top-down conversion. To set it up correctly, I need more information, such as the FOV and the exact pose of your camera.

If you're planning to set this up with a real robot, you can refer to Andy Zeng's work, which offers a publicly available configuration for real robots. Just keep in mind that you’ll still need to determine the camera pose and parameters for accurate results.

Best of luck!

Best regards,
Yongliang