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vikashplus / robohive

A unified framework for robot learning
https://sites.google.com/view/robohive
Apache License 2.0
493 stars 83 forks source link

Point cloud utility functions for mujoco [Draft] #85

Closed Wenxuan-Zhou closed 5 months ago

Wenxuan-Zhou commented 1 year ago

Ongoing

vikashplus commented 10 months ago

@Wenxuan-Zhou we received a request for point cloud support in RoboHive. It will be great to develop and get this feature integrated. https://github.com/vikashplus/robohive/issues/116

Wenxuan-Zhou commented 10 months ago

Will work on this as soon as possible!

Wenxuan-Zhou commented 10 months ago

I have updated the code and provided an example in the colab. I noticed that the depth image is upside-down compared to rgb. Is there any reason for that? @vikashplus

vikashplus commented 10 months ago

IIRC it was upside down in MuJoCo_py. So it might be a stale rationale that needs an update for new official wrappers. This is the line where it happens. Feel free to test and add the fix to your PR.

Wenxuan-Zhou commented 9 months ago

I have commented out the line you mentioned and verified the output. It should be ready to merge!

shivakanthsujit commented 5 months ago

Hello,

I am using these files and they work out of the box with the current robohive version. Could this PR be merged into main?

vikashplus commented 5 months ago

@shivakanthsujit -- mered into dev. It will go out with the next release.