Open JudyYe opened 3 years ago
Hi,
Good point, this file contains the code to generate object-centric grasps after symmetry, and the generated grasps (set 2) of the final version of the dataset: symmetry_code.zip
Set 2 contains a bit more than 800 grasps but you can create many more depending on a few hyperparameters. Actually, I thought we had more of them after this step. I haven't used the code for a while but I think it should work when setting correct paths.
Best, Enric
Thank you for your quick reponse. I will run it today.
Hi,
Thank you for providing symmetry code and data. However, could you please explain how to interpret / visualize the extended grasp?
I realize that you assign a new mano_trans
and pca_manorot
, which are used in visualize_grasps.py
. However, when I visualize it in the same way as that for set1. I got the following figures:
(visualizing grasp_0_3.pkl
)
I also notice that the core transformation is in Line 74-75.
newpos = np.matmul(position, apply_rotmat)
newrot = np.matmul(hand_rotmat, apply_rotmat)
But I don't quite understand it. Suppose positions are column vector (which seems true for MANO layer)
,where S is apply_rotmat. I would assume the transformation just apply an additional rotation around object rotation axis (on the left). Mabye something like
, though it's not the exact form since rotational axis and MANO origin offset should also be considered.
I wonder if I misunderstood at some point and how to correctly visualize the generated grasps. Looking forward to your reply. Thank you!
Hi,
Nice work! Thank you for releasing data and code! As far as I understand, there are 3 sets of grasps. 1) 367 grasps from manual annotation. (sec3.1 para 1) 2) many more object-centric grasps generated by symmetry. (sec3.1 para 2) 3) transfer 2) to YCB-Video dataset after filtering collision (28M).
I notice that set 1 is in
data/grasps
, set 3 inYCB_Affordance_grasps
. I wonder if set 2 is released. If not, could you please kindly provide the code of generation procedure from set1 to set2?Thank you very much!