Dexnet Input Output Explained - mfkenson/MAEG5755-2021-Team-PARK GitHub Wiki

7 input to use this node:

Original code

  • color_img_filename: input file path of the RGB image to be processed
  • depth_img_filename: input file path of the depth image to be processed
  • sampled_grasps_filename: output file path to pickled grasp candidates
  • camera_intr_filename
  • model_name
  • model_dir
  • model_params

Notes

  • color image is not essential for getting grasp pose
  • camera_intr can be loaded from a yaml file or directly instantiate CameraIntrinsics from perception package.

Example of exported 64 candidates

https://github.com/mfkenson/MAEG5755-2021-Team-PARK/blob/main/park_demo/park_demo/scripts/dexnet_pick_and_place.py

  1. Q Value
  2. Position.x
  3. Position.y
  4. Position.z
  5. Euler.x
  6. Euler.y
  7. Euler.z
  8. Angle
0.47,0.25,-0.15,0.91,0.54,1.57,0.00,-2.11
0.42,0.25,-0.15,0.91,0.48,1.57,0.00,-2.05
0.24,0.25,-0.15,0.91,0.53,1.57,0.00,-2.10
0.51,0.25,-0.15,0.91,0.51,1.57,0.00,-2.08
0.24,0.25,-0.15,0.91,0.53,1.57,0.00,-2.10
0.38,0.25,-0.15,0.91,0.52,1.57,0.00,-2.09
0.23,0.25,-0.15,0.91,0.47,1.57,0.00,-2.04
0.35,0.25,-0.14,0.91,0.42,1.57,0.00,-1.99
0.56,0.22,-0.13,0.89,0.77,1.57,0.00,-2.34
0.55,0.22,-0.13,0.89,0.77,1.57,0.00,-2.34
0.61,0.22,-0.13,0.89,0.77,1.57,0.00,-2.35
0.58,0.22,-0.13,0.89,0.77,1.57,0.00,-2.34
0.23,0.22,-0.13,0.89,0.80,1.57,0.00,-2.37
0.51,0.27,-0.16,0.90,0.50,1.57,0.00,-2.07
0.31,0.27,-0.16,0.90,0.49,1.57,0.00,-2.06
0.61,0.27,-0.16,0.91,0.47,1.57,0.00,-2.04
0.59,0.27,-0.16,0.90,0.46,1.57,0.00,-2.03
0.80,0.25,-0.14,0.90,0.42,1.57,0.00,-1.99
0.59,0.26,-0.14,0.91,0.49,1.57,0.00,-2.06
0.58,0.25,-0.14,0.90,0.46,1.57,0.00,-2.03
0.66,0.25,-0.14,0.91,0.45,1.57,0.00,-2.02
0.69,0.25,-0.14,0.91,0.36,1.57,0.00,-1.93
0.61,0.25,-0.14,0.90,0.48,1.57,0.00,-2.05
0.68,0.25,-0.14,0.90,0.41,1.57,0.00,-1.99
0.71,0.25,-0.14,0.91,0.42,1.57,0.00,-1.99
0.49,0.25,-0.14,0.91,0.51,1.57,0.00,-2.08
0.81,0.25,-0.14,0.90,0.42,1.57,0.00,-1.99
0.35,0.25,-0.14,0.91,0.59,1.57,0.00,-2.16
0.71,0.26,-0.14,0.91,0.42,1.57,0.00,-2.00
0.48,0.25,-0.14,0.91,0.56,1.57,0.00,-2.13
0.59,0.25,-0.14,0.91,0.50,1.57,0.00,-2.07
0.62,0.25,-0.14,0.91,0.32,1.57,0.00,-1.89
0.60,0.25,-0.14,0.91,0.35,1.57,0.00,-1.92
0.49,0.25,-0.14,0.91,0.39,1.57,0.00,-1.96
0.52,0.25,-0.14,0.91,0.39,1.57,0.00,-1.96
0.42,0.25,-0.14,0.90,0.37,1.57,0.00,-1.94
0.60,0.25,-0.14,0.90,0.30,1.57,0.00,-1.88
0.42,0.25,-0.14,0.90,0.33,1.57,0.00,-1.90
0.57,0.25,-0.14,0.91,0.30,1.57,0.00,-1.87
0.48,0.25,-0.14,0.91,0.40,1.57,0.00,-1.97
0.54,0.25,-0.14,0.91,0.38,1.57,0.00,-1.95
0.57,0.25,-0.14,0.90,0.29,1.57,0.00,-1.86
0.29,0.25,-0.14,0.91,0.34,1.57,0.00,-1.91
0.62,0.25,-0.14,0.90,0.33,1.57,0.00,-1.90
0.56,0.25,-0.14,0.90,0.37,1.57,0.00,-1.94
0.48,0.25,-0.14,0.90,0.37,1.57,0.00,-1.94
0.52,0.25,-0.14,0.91,0.33,1.57,0.00,-1.90
0.36,0.25,-0.14,0.90,0.42,1.57,0.00,-1.99
0.28,0.25,-0.14,0.91,0.23,1.57,0.00,-1.80
0.58,0.25,-0.14,0.90,0.35,1.57,0.00,-1.92
0.50,0.25,-0.14,0.90,0.41,1.57,0.00,-1.98
0.44,0.25,-0.14,0.90,0.30,1.57,0.00,-1.87
0.46,0.25,-0.14,0.90,0.31,1.57,0.00,-1.88
0.42,0.25,-0.14,0.90,0.55,1.57,0.00,-2.13
0.66,0.25,-0.14,0.90,0.53,1.57,0.00,-2.10
0.44,0.25,-0.14,0.90,0.53,1.57,0.00,-2.10
0.59,0.25,-0.14,0.90,0.54,1.57,0.00,-2.11
0.56,0.25,-0.14,0.91,0.55,1.57,0.00,-2.12
0.45,0.25,-0.14,0.90,0.60,1.57,0.00,-2.18
0.42,0.25,-0.14,0.90,0.54,1.57,0.00,-2.11
0.52,0.25,-0.14,0.91,0.53,1.57,0.00,-2.10
0.32,0.25,-0.14,0.90,0.58,1.57,0.00,-2.15
0.20,0.25,-0.14,0.90,0.63,1.57,0.00,-2.20
0.62,0.22,-0.13,0.89,0.77,1.57,0.00,-2.34