search

PKU-EPIC / DexGraspNet

147 stars 17 forks source link

ShadowHand grasp generation for objects on the table #1

Closed liuallen871219 closed 1 week ago

liuallen871219 commented 1 year ago

For table-top grasping generation, it seem need information about object pose(../data/pose). What is the format of this file?

Best regards, Allen

mzhmxzh commented 1 year ago

Thank you for your comment.

For table-top generation, every object is supposed to have a data/poses/object_code.npy file to record transformations from the object reference frame (where the object is zero-centered and normalized) to the world reference frame (where the object lies stably on the top of the table, which coincides with the z=0 plane).

Each file is a list of 4x4 homogeneous transformation matrices, generated by running python grasp_generation/scripts/generate_object_pose.py, which raises each object to a random height above the table, rotates it randomly, then drops it onto the table in a free-fall. This process is repeated --n_samples times to collect diverse poses. We choose SAPIEN as the physics simulator that does this simulation.

We updated the grasp_generation/README.md file of the table branch, added comments and doc strings in the source code, and included some sample data upon your comment.

We are happy to provide further clarifications. Jialiang Zhang

liuallen871219 commented 1 year ago

Thanks!!

kaijieshi7 commented 4 months ago

Hi. Thanks for the great work. Can I know the version of SAPIEN package?

wetoo-cando commented 3 months ago 
[SAPIEN] [critical] Missing required child <mass>
...
RuntimeError: Missing required child

Seems like sapien is looking for a "mass" attribute in the URDF file, but there is none.

I am working with the mujoco-google-scanned-objects.

Is this attribute important for DexGraspNet? If not, how can I get around this?

wetoo-cando commented 2 months ago

Downgrading to sapien 1.1.1 works.