Gripper pose transformation is off during rendering

[helen9975]

Thanks to the authors for releasing this work.

I notice that when I render the planned grasps, the poses of the gripper seem off (not aligned with the object part being assembled / disassembled). It appears that this happens for some objects -- not all. For example for object 00812 and 03008, the gripper poses are off:


But for object 03957, the grasping pose appear more aligned:

Any idea why this happens? This occurs when running python plan_sequence/play_logged_plan_batch.py

[yunshengtian]

Hi @helen9975 , thanks for reporting the issue. My current guess is that there are probably some bugs with the transformation calculation, but I will double check and let you know.

[yunshengtian]

Can you send me your log files to debug this better?

[helen9975]

test_assembly.zip
Here's the logs.

[helen9975]

These were generated with the following command:
python plan_sequence/run_seq_plan_batch.py --dir PATH_TEST_ASSEMBLY --planner dfs --generator heur-out --num-proc 8 --inner-num-proc 8 --max-gripper 2 --early-term --timeout 1000 --log-dir logs/test_assembly --plan-grasp --plan-arm

[yunshengtian]

Thanks for sending over the data and commands. I think I've fixed the issue, also checked a few examples locally. Please pull the latest changes and let me know if it works!

[yunshengtian]

You'll need to rerun the planning commands as well since the issue relates to both planning and rendering. Sorry about that.

Besides, I also saw from your log files that it fails on many assemblies due to timeout. If you have a specific usage and want to speed up, please contact me and I'm happy to provide suggestions.