cooper

When I start training with small dataset(10 contact scene), it's all going well. But load full dataset, the error is always thorwed by trimesh: Traceback (most recent call last): File...

https://github.com/lianghongzhuo/PointNetGPD/blob/336eb9e9cbb534dea36b3e92e0d1b7adef13d7f3/PointNetGPD/main_1v.py#L49C6-L49C6 Hi, Hongzhuo. above code have the chance filter all batch data, which will make batchnorm layer throw an erroe( valid batch_size

why finger_mesh_in_gripper_base can change?

2

https://github.com/wenbowen123/catgrasp/blob/dc656c05da85e9e732c56a887bb665e1b2a52289/run_grasp_simulation.py#LL78C15-L78C15 In my opinion, the finger_mesh_in_gripper_base just is the transformation matrix of the finger fame to gripper frame. But I think the relative pose is constant. so why finger_mesh_in_gripper_base can...

I try moving the screw using the one of fingers. and the output hand pointcloud shows that it can sweep the part. in my opinion, the part will move to...

https://github.com/wenbowen123/catgrasp/blob/dc656c05da85e9e732c56a887bb665e1b2a52289/dexnet/grasping/grasp_sampler.py#L318 what means center object between gripper?

https://github.com/wenbowen123/catgrasp/blob/dc656c05da85e9e732c56a887bb665e1b2a52289/make_canonical.py#L74 Hi, the frame had been translated to the centere of the object, why again calcute the new_tf matrix? In my opinion, the new_tf just transform the obj to canonical...

I haven't find the code about calculating jaw_width which means the hand can hold object just right, seems only set the fixed hand_outer_diameter(refer to GPD). or maybe, the task determine...