search

graspnet / graspnet-baseline

Baseline model for "GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping" (CVPR 2020)
https://graspnet.net/
Other
475 stars 142 forks source link

Question about grasping single thin object #74

Closed baoyufuyou closed 1 year ago

baoyufuyou commented 1 year ago

Hi guys, I found that when planning grasping for single thin object, there is always no candidates. Could I ask, it that normal? Thanks in advance.

chenxi-wang commented 1 year ago

How thin is the object? Did you visualize and check the input point cloud?

baoyufuyou commented 1 year ago
Screenshot 2023-09-05 at 09 21 12

The thin object is the HDMI cable with height about 1cm. I already checked the point cloud. When there are lots of cables in the scene, grasp planning could be done successfully. But when the cables are placed flat on the table, there are totally no candidates.

chenxi-wang commented 1 year ago

You mean multiple cables are placed flat but there are no candidates?

baoyufuyou commented 1 year ago

@chenxi-wang Yes. For the scene with multiple cables or single cable placed flat on table, there is both no candidate.

chenxi-wang commented 1 year ago

That's weird. The most likely explanation is that cables are treated as part of the table. But I'm not sure. Perhaps you can try anygrasp sdk. Btw, the machine feature id you provided seems incorrect. I've sent you an email several days ago.

baoyufuyou commented 1 year ago

@chenxi-wang Thanks a lot! I will try to submit the machine feature and try anygrasp sdk. Close this ticket and I will update the status later afterwards.