search

KochPJ / AutoPoseEstimation

MIT License
13 stars 4 forks source link

{}_grasping_deltas.json #3

Open gongsh0 opened 1 year ago

gongsh0 commented 1 year ago

Hi @KochPJ Congratulation for your project! It's very interesting! I have a question.In the following piece of code:

meta_path = os.path.join(save_path, '{}_grasping_deltas.json'.format(data_set_name))

I want to know where the '{}_grasping_deltas.json' file is defined and how is it generated. Thanks a lot for your helping!

KochPJ commented 1 year ago

Hey. Once the pose estimation is trained, the robot does not know hoe to grasp a given obejct. Grasping is a next level problem. Therefore, In this project grasping was done via a taught grasping position, from which a simple move down, close gripper, move up grasp is done. The delta file you point out does store for each class a fixed (taught) rotation around the z axis (up/down) of the robot gripper. Applying this rotation on a given predicted object pose enables the robot to move to the correct "grasping"position to perform a simple top down grasp. You need to teach these deltas for your own objects. You can find the teaching approach in the source code.

KochPJ commented 1 year ago

https://github.com/KochPJ/AutoPoseEstimation/blob/6b2e0181fb4dc76399c7a21759a9d73aebc48ade/main.py#L614