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Published 20 hours ago • verified publisher icon vikashplus

Point cloud utility functions for mujoco [Draft]

Open Wenxuan-Zhou opened this issue 2 years ago • 5 comments

Ongoing

Wenxuan-Zhou avatar Apr 20 '23 04:04 Wenxuan-Zhou

@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

vikashplus avatar Nov 03 '23 14:11 vikashplus

Will work on this as soon as possible!

Wenxuan-Zhou avatar Nov 05 '23 04:11 Wenxuan-Zhou

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

Wenxuan-Zhou avatar Nov 13 '23 00:11 Wenxuan-Zhou

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.

vikashplus avatar Nov 13 '23 20:11 vikashplus

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

Wenxuan-Zhou avatar Nov 26 '23 07:11 Wenxuan-Zhou

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?

shivakanthsujit avatar Apr 18 '24 08:04 shivakanthsujit

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

vikashplus avatar Apr 18 '24 18:04 vikashplus