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NVlabs / contact_graspnet

Efficient 6-DoF Grasp Generation in Cluttered Scenes
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Output grasp pose #14

Closed y556zhao closed 2 years ago

y556zhao commented 2 years ago

Hi,

I am running into some problems when transforming the output grasp pose to the pose that the robot needs. May I ask if the output grasp pose is in the actual camera coordinate or some other coordinate system? Thank you so much! @MartinSmeyer

MartinSmeyer commented 2 years ago

Hi,

The output grasp poses of the inference script are in OpenCV camera coordinates.

xlim1996 commented 2 years ago

Hi, @y556zhao Do you solve the problem of how to convert the result from pred_grasps_cam to real-world coordinate?