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why process "pos" in dataset like this? #12

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tycoer opened this issue May 7, 2022 · 1 comment

tycoer commented May 7, 2022 •

edited

Why process "pos" in dataset like the line:

GIGA/src/vgn/dataset_voxel.py

Line 35 in d67c438

pos = pos / self.size - 0.5

Why the "self.size" in

GIGA/src/vgn/simulation.py

Line 37 in d67c438

self.size = 6 * self.gripper.finger_depth

define like this?

Why the do not use "pos" in " x, y, z" instead of "i, j k" in following lines?

GIGA/scripts/construct_dataset_parallel.py

Line 73 in d67c438

df = df.rename(columns={"x": "i", "y": "j", "z": "k"})

tycoer closed this as completed

tycoer reopened this

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Steve-Tod commented May 9, 2022

Because we want to normalize the pos into [-0.5, 0.5].
I just adopt the code of vgn. My understanding is that they just set the size of workspace to be 30cm.
I just adopt the code of vgn.

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