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huangwl18 / VoxPoser

VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

Home Page:https://voxposer.github.io/

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is rotation map implemented

hantao-zhou opened this issue · comments

commented

I personally test some prompts with rotation suggestions, then the executor will throw the error of saying vec2quat is not defined

commented

Hello,have you solved the problem yet?

commented

@hantao-zhou @lin711 Is it possible that the method 'vec2quat' is a typo/old name for the method 'pointat2quat' ?
The docstring for this method says : """calculate quaternion from pointat vector"""

commented

@hantao-zhou @lin711 Is it possible that the method 'vec2quat' is a typo/old name for the method 'pointat2quat' ? The docstring for this method says : """calculate quaternion from pointat vector"""

hello！Thank you for your advice! did you try? Will it work after the change？

commented

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.

commented

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

commented

This task of grasping the cup. Which simulation task is this? Is it a part of RLBench? I haven't seen this till now.

commented

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~~~~