From f3a0685a1ed10741ff9768656f0de1dcf065f2f4 Mon Sep 17 00:00:00 2001 From: Huataran Date: Sat, 30 Mar 2024 15:04:07 -0500 Subject: [PATCH] merge complete --- README.md | 10 ++++------ docs/controllers.md | 1 + 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 5a31854..59d11b5 100644 --- a/README.md +++ b/README.md @@ -160,7 +160,7 @@ The transfer_st.py takes as input: - output_dir: Output directory (directory to save the filtered grasps .json file) - num_w: Number of Workstations to run simultaneously (object-gripper pair) (default: 150) - test_time: Total test time for each grasp test (default:3). -- controller: Controller reference (within [controllers.py](controllers.py))(default: trasnfer_default) +- controller: Controller reference (within [controllers.py](controllers.py)) (default: transfer_default) - (Optional) print_results: Verbosity of standalone after finishing one .json file. - (Optional) device: GPU device to use for Isaac Sim (default: 0) - (Optional) headless: Run the simulation headless @@ -172,7 +172,7 @@ Note: To run the simulation without warnings add the following parameters to the Sample run command: ```Shell -./python.sh (repo directory)/transfer_st.py --json_dir=(.json files folder)--gripper_dir=(repo directory)/grippers --objects_dir=(object .usd folder) --output_dir=(output directory) --num_w=100 --test_time=3 --headless --print_results --/log/level=error --/log/fileLogLevel=error --/log/outputStreamLevel=error +./python.sh (repo directory)/transfer_st.py --json_dir=(.json files folder) --gripper_dir=(repo directory)/grippers --objects_dir=(object .usd folder) --output_dir=(output directory) --num_w=100 --test_time=3 --headless --print_results --/log/level=error --/log/fileLogLevel=error --/log/outputStreamLevel=error ```

@@ -185,7 +185,6 @@ As of this version, the simulation uses a specific .json structure, nonetheless, - The object name: Must be exactly the name with which the object is saved within the object directory. - Grasp pose data: 7 dimensional vector containing the gripper and object relative pose. (0-2 denotes the postion, 3-6 denotes the quaternion). Must be changed to the Isaac Sim quaternion convention (w, x, y, z) - Joint Value Data: vector containing the Degree of Freedom (DoF) information of the grasps. Note: the order of the DoF may change from software to software, a "translation" may be needed to ensure that the grasps are loaded correctly. -https://github.com/IRVLUTD/isaac_sim_grasping/blob/4d1695831defc6b71d90b0ea6d7a1d03f34c1346/manager.py#L30-L41 Within the [manager.py](manager.py) you can find the hyperparameters used for filtering the grasps of each gripper. In order to reproduce the paper results, one must run the filter with the same hyperparameters: - dts: physics time step size used to run the simulation. @@ -193,9 +192,8 @@ Within the [manager.py](manager.py) you can find the hyperparameters used for fi - contact_names: Names of gripper meshes that will be probed for collision with the object. - contact_ths: contact thresholds that will signal the beggining of the grasp. -All the files provided within this repository and in the [[project site](https://irvlutd.github.io/MultiGripperGrasp)] are set up for use out of the box. To reproduce the results you will need to run the simulation on the dataset and save to a different folder(output_dir). This will override the fall_time values and save the latest results on the new file with the relevant information: grasp pose information, grasp dof information, test type, total test time, fall time. Below is the corresponding manager.save_json function: - -https://github.com/IRVLUTD/isaac_sim_grasping/blob/d6dad3eb93452656b33373ee77b2ceac576388ca/manager.py#L300-L325 +All the files provided within this repository and in the [[project site](https://irvlutd.github.io/MultiGripperGrasp)] are set up for use out of the box. To reproduce the results you will need to run the simulation on the dataset and save to a different folder (output_dir). This will override the fall_time values and save the latest results on the new file with the relevant information: grasp pose information, grasp dof information, test type, total test time, fall time. Below is the corresponding manager.save_json function: +https://github.com/IRVLUTD/isaac_sim_grasping/blob/a7207a100e0940b5103bb407ad0676c5771c0a83/managers.py#L246-L277 ## More Documentation - [Adding a new Gripper](docs/add_grippers.md) diff --git a/docs/controllers.md b/docs/controllers.md index 5a984b8..3d60f9a 100644 --- a/docs/controllers.md +++ b/docs/controllers.md @@ -43,3 +43,4 @@ The force controller is denominated as "ForceController" and accessible in the s ![](https://github.com/IRVLUTD/isaac_sim_grasping/blob/main/media/FC.gif) +### Position-based Controller for Trasnferred Grasps \ No newline at end of file