acronym
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NVlabs
This repository contains a sample of the grasping dataset and tools to visualize grasps, generate random scenes, and render observations. The two sample files are in the HDF5 format.
Hi, thanks so much for the fantastic dataset. It has clean implementations and diverse training samples. I'm using Acronym for a grasp planning project with offline reinforcement learning. I'm wondering...
Hi, Thank you for your excellent work! I would like to generate some physically feasible grasps for our own objects. Could you give some hints for the implementation based on...
Hi, I have some questions regarding the following fields in each of the grasp files: ``` /grasps/qualities/flex/object_in_gripper Dataset {2000} /grasps/qualities/flex/object_motion_during_closing_angular Dataset {2000} /grasps/qualities/flex/object_motion_during_closing_linear Dataset {2000} /grasps/qualities/flex/object_motion_during_shaking_angular Dataset {2000} /grasps/qualities/flex/object_motion_during_shaking_linear Dataset...
Can you give some better instructions regarding the mesh creation with manifold? I am following your steps and leads to segmentation fail. Is the shapenetsem file models-OBJ.zip the one needed...
ValueError: string is not a file: data/examples/meshes/1Shelves/1e3df0ab57e8ca8587f357007f9e75d1.obj
When the **ShapeNetSems** are unzipped, there is only the **Models** folder,so I run python scripts/acronym_generate_scene.py --mesh_root models/ --objects grasps/1Shelves_1e3df0ab57e8ca8587f357007f9e75d1_0.011099225885734912.h5 grasps/1Shelves_1e3df0ab57e8ca8587f357007f9e75d1_0.011099225885734912.h5 --support data/examples/grasps/Table_99cf659ae2fe4b87b72437fd995483b_0.009700376721042367.h5 --show_grasps than get Traceback (most recent call last):...
Hey :) I am encountering an error when loading meshes from the h5 files: ``` line 371, in load_mesh mesh_fname = data["object/file"][()].decode('utf-8') AttributeError: 'str' object has no attribute 'decode' ```...
Hey, I have an issue with the scene generation. Everything seems to work fine, except the valid grasps are not displayed when generating a scene(--show_grasps is set). I am working...
where to download the mesh files of the 8827 objects? The dataset is comprised of 8836 HDF5 files， can not find the corresponding meshes....
Hi. In this dataset, what does the "volume" represent for? The reason why I asked this question is because there are some objects have negative volume. For example, Table_2e7a2d47040a0d4e35836c728d324152_0.009612910954917283.h5 with...
Hello! Thank you very much for providing this dataset. I have a question. Do we assume that the gripper width is always at the constant opening of 0.08 for each...
