quyinpeng

Calculation of principal curvature direction

2

hi,To find the normal direction of a surface at a certain point is to fit a plane, the corresponding minimum eigenvalue is the normal vector, then the fork product of...

grab the ground

17

Hello, @atenpas ,when I simulated in gazebo, my camera position was overhead, and there was ground in the recognized point cloud; after I ran GPD, the final grabbing pose was...

In the code, the discrimination about whether the grabbed object is closed by force or not

3

Hello!@atenpas I'm studying your article: grab pose detection in point clouds; However, I am looking for the judging conditions for judging whether the grabbing candidate object is force-closed grabbing, which...

Hello! When I use moveit and gazebo co-simulation, when I use the position controller, the trajectory planned in moveit, gazebo can execute normally. But when I use the effort controller,...

./dexnet_install.sh {cpu|gpu}

3

Hello, when I am running ./dexnet_install.sh {cpu|gpu} When installing dexnet, the terminal reported the following error: gpu}: Command not found How can I solve it, I look forward to your...

Is the training data trained by a complete point cloud or a partial point cloud?

2

Hi! @atenpas I find the object data from bigbird contain conpleted mesh module and partial point cloud, and the generate c++ code need 20 numbers point cloud module, when I...

objects_file_location = /home/qyp/ku_wenjian/gpd/bigbird_pcds/objects.txt，what is the format for the objects.txt?

1

Hi! @atenpas when I want to gennerate the data and train the netural network, I can get the bigbird or PCB database, but I do not know the "data_root =...

How to return the grasping pose calculated by the GPD algorithm to moveit for execution?

3

Hello, may I ask, I see the message output in the gpd_ros package, the position and attitude, which are in the camera coordinate system; and the transformation to the camera...