Getting the top_site and bottom_site parameters about robosuite HOT 6 CLOSED

The 3-D coordinate of the site matters, and the site references body coordinates. Because when we are putting the object on the table (say on table_top = np.array([0.5, 0.5, 0]), we do obj.pos = table_top - obj.bottom_offset. When you have a mesh object, where the bottom should go depends on your mesh.

@anchit should be able to tell you how the sites for stl files are generated.

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Yes. But I am not sure how these values are computed, because when I compute them using the top-most and bottom-most point from the mesh, I do not get the same value as that written in the xml file.

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The top and bottom sites for the mesh objects have not been computed in a principled way. We have just approximately tuned them to what works well. Currently these are only used to initialize at the right place and hence being accurate isn't necessary.

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I see thanks for the info.

But is the method that I described above the intended method to compute these parameters, because I am trying to load random shape net objects in the scene and hence it would be beneficial to have these automatically computed.

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I think it would work. The objects might tilt a bit because the x, y coordinates are not necessarily correct but what you described is what I would do for shapeNET as well.

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Okay thanks a lot

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