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real-stanford / universal_manipulation_interface

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
https://umi-gripper.github.io/
MIT License
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Provide `tx_slam_tag` file for the in the wild cup experiment #45

Open ErinZhang1998 opened 6 months ago

ErinZhang1998 commented 6 months ago

Hi UMI authors,

In https://github.com/real-stanford/universal_manipulation_interface/blob/298776ce251f33b6b3185a98d6e7d1f9ad49168b/scripts_slam_pipeline/06_generate_dataset_plan.py#L110 tx_slam_tag is used to convert camera in the SLAM frame to the aruco tag frame.

# SLAM map origin to table tag transform
  if tx_slam_tag is None:
      path = demos_dir.joinpath('mapping', 'tx_slam_tag.json')
      assert path.is_file()
      tx_slam_tag = str(path)
  tx_slam_tag = np.array(json.load(
      open(os.path.expanduser(tx_slam_tag), 'r')
      )['tx_slam_tag']
  )

Question: Can we have the tx_slam_tag.json file for data in https://real.stanford.edu/umi/data/zarr_datasets/cup_in_the_wild.zarr.zip?

It is easier to use data defined in the SLAM frame so that (1) I can convert the data to other frames (2) run models from codebase that uses a different frame.

Thank you!

ErinZhang1998 commented 3 months ago

@zhenjia-xu Hi Zhenjia, I am wondering if it would be possible to share the original raw GoPro videos of the 1447-trajectories dataset used in the UMI generalization experiment? Thank you so much for helping.