search

luyh20 / FGC-GraspNet

ICRA 2022 "Hybrid Physical Metric For 6-DoF Grasp Pose Detection"
MIT License
43 stars 5 forks source link

How to get gravity center? #6

Open 1mingW opened 12 months ago

1mingW commented 12 months ago

Hello @luyh20,

I am wondering how you get the center of gravity of an object. I noticed that you set gravity center to (0,0,0) in the code score_gen_mp.py. Is it same as the grasp center, since the contact points are translated to the grasp coordinate? If so, wouldn't the distance between gravity center and the line connecting two contact points be zero? Or is it the origin of the object coordinate?

And is the contact points transformed twice in init_contact and in contact_find_solo?

luyh20 commented 11 months ago

I use the geometry center of object point cloud to approximate the physcial center of gravity. The coordinate center (0,0,0) of object model defaults to the geometric center. Grasp center is just a point from object model. For example, the lion model's center is (0, 0, 0). Each point of the lion can be a grasp center (the base point of a grasp pose).