Displaying grasps when 'check_approach=True' about dex-net HOT 6 CLOSED

Hi Stephen,

Thanks for the feedback! Wrt collision checking, we have plans to release that more broadly, tentatively in fall 2017. You can use a subset of our collision checking capabilities using the class dexnet.grasping.GraspCollisionChecker if you install my fork of OpenRAVE 0.9 per the installation doc on berkeleyautomation.github.io/dex-net/code.html.

The delay in release is bc we are working on removing the OpenRAVE dep. We pretty much only use it for collision checking and it can be frustrating to install. Our goal is to add a lean version of collision checking to our trimesh fork (which will replace meshpy at some point).

from dex-net.

The GQ-CNN dataset was generated with check_approach = False, and collision checking was done afterwards using the gripper mesh.

check_approach was more for computing metrics dependent on object orientation, but since we aren't using any of those it's pretty much unused. Looking over the config params and cleaning out unused ones is something that needs to be done at some point.

from dex-net.

Im sorry, but I am still a little confused.

in line 519 of dexnet/api.py, you have:

aligned_grasp = grasp.perpendicular_table(stable_pose)

but this relies on check_approach = True, and I thought the grasps in the dataset were perpendicular to the table?

from dex-net.

The grasps in the dataset are perpendicular to the table, but the metrics used are independent of whether or not the grasp is perpendicular to the table.

Basically, everything that makes the grasps in the dataset perpendicular to the table (collision checking) isn't in the current released code.

from dex-net.

Basically, everything that makes the grasps in the dataset perpendicular to the table (collision checking) isn't in the current released code.

Ahhh, that makes more sense now! After looking through the code, I thought that was the case, but I just assumed that this code took care of the entire dataset creation process. My mistake!

Thank you for clearing that up! By the way, is there any plan to release the collision checking code?

from dex-net.

No concrete schedule at the moment, but it probably will be released at some point.

from dex-net.