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is rotation map implemented #16
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Hello,have you solved the problem yet? |
@hantao-zhou @lin711 Is it possible that the method 'vec2quat' is a typo/old name for the method 'pointat2quat' ? |
hello!Thank you for your advice! did you try? Will it work after the change? |
I got this error only once on a simulation environment. I was unable to reproduce it. If it comes up again will investigate more. If you can, please do see if this works out and let us know here. |
I was wondering whether vec2quat is related to the grasping posture of the robotic arm. Although I changed vec2quat to pointat2quat according to your suggestion, I found that I gave the command to grasp the cup from its side but in the simulation the robotic arm still grabs the cup from top to bottom, Do you know how to grasp the cup vertically from its side (that is, change the grasp attitude of the robot arm)? I would really appreciate any reply from you!Thanks |
This task of grasping the cup. Which simulation task is this? Is it a part of RLBench? I haven't seen this till now. |
the task is pick_up_cup which is in Voxposer /RLBench/rlbench/tasks. Also, may I ask if you have considered migrating the real machine? I am very confused about the labeling issue of objects after migrating the real machine. Thank you very much for your reply~~~~ |
Hello, I carefully studied the relevant part of the code and found a serious problem. The rotation axis calculated in the 'pointat2quat' function for the quaternion does not match the rotation axis of the end effector's quaternion. This inconsistency is likely the reason for the errors in execution. I personally cannot understand the choice of a random vector in 'pointat2quat.'I suggest using the direction vector of the end effector's rotation axis as the direction vector for 'pointat2quat.' |
请问你解决了这个问题吗,我也是出现了vec2quat is not defined这个问题 |
请问你解决了这个问题吗,我遇到相同的问题 |
@hantao-zhou @lin711 @tongjilyh 请问大佬怎么解决的vec2quat is not defined这个问题,请指教 |
@git183nuozhe vec2quat is not defined这个问题可以解决,在get_rotation_map_prompt.txt的开头加上一句from plan_utils import get_empty_rotation_map, set_voxel_by_radius, cm2index, vec2quat就可以了,您可以试一下 |
I personally test some prompts with rotation suggestions, then the executor will throw the error of saying vec2quat is not defined
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