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Hymwgk avatar Hymwgk commented on June 21, 2024

时间有点长,我差不多给忘记了; 不过, 印象中, 是(与Dex-net一致的)10维度的抓取配置 + 两个分数值(论文里有)

10维度的抓取配置参数,可以看Dex-net源码获取, 大概是
[0:3] 夹爪中心坐标
[3:6] 夹爪Binomial轴单位向量
[6] 夹爪两指最大张开宽度
[7] 绕Binomial轴旋转角
[8] 抓取时夹爪两指目标闭合宽度
[9] 该型号夹爪两指最小闭合宽度

应该是这样, 可能记得有错, 有兴趣可以看看Dex-net里面我记得是grasp.py里面有定义, 但是具体含义需要结合代码理解,他们也没有具体解释(我没找到)

from pointnetgpd.

CaptainWuDaoKou avatar CaptainWuDaoKou commented on June 21, 2024

明白了，感谢

from pointnetgpd.

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