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0000000000000000000000000000000000000000..cb4b60a1412f8e7073eabe21fc0ee629444ed5cb Binary files /dev/null and b/RobotPosterior_titan_tillR2/O36002_robot_gt_merged.hdf5 differ diff --git a/RobotPosterior_titan_tillR2/O50001_robot_gt_merged.hdf5 b/RobotPosterior_titan_tillR2/O50001_robot_gt_merged.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..94e35dcf3750aee50db40d632e4d4ae5e3a0f803 Binary files /dev/null and b/RobotPosterior_titan_tillR2/O50001_robot_gt_merged.hdf5 differ diff --git a/RobotPosterior_titan_tillR2/README.md b/RobotPosterior_titan_tillR2/README.md new file mode 100644 index 0000000000000000000000000000000000000000..edd8226c3cc5d2fa94088c2caf386c30440254fa --- /dev/null +++ b/RobotPosterior_titan_tillR2/README.md @@ -0,0 +1,117 @@ +# merged — 多轮 Sim 成功抓取合并结果 + +本目录下每个文件对应一个物体：`{obj_id}_robot_gt_merged.hdf5`。 +只包含 **Isaac Sim 验证成功** 的抓取；无成功抓取的物体不会生成文件。 + +--- + +## 数据怎么来的 + +流水线（详见仓库 `docs/grasp_collect_pipeline.md`）： + +``` +SAM3D mesh + scale + → tools/convert_obj_usd.py → output/obj_usd/oakink/{obj}.usd + → tools/random_grasp_sampler.py → candidates/round_XXXX/{obj}_grasp.hdf5 + → sim/run_grasp_sim.py → robot_gt/round_XXXX/{obj}_robot_gt.hdf5 + → tools/merge_robot_gt.py → merged/{obj}_robot_gt_merged.hdf5 （本目录） +``` + +说明： + +1. **候选**：`inference/grasp_pose.py` / `random_grasp_sampler` 在物体坐标系下生成多组抓取（raycast 等），写入 `candidates/round_XXXX/*_grasp.hdf5`。 +2. **Sim GT**：`run_grasp_sim.py` 在 Isaac Sim 中物理闭合夹爪，只把 **仿真成功** 的 pose 写入 `robot_gt/round_XXXX/*_robot_gt.hdf5` 的 `successful_grasps`；失败的候选在单轮文件里可能在 `candidate_results`，**合并时不会读**。 +3. **合并**：`merge_robot_gt.py`（或 `scripts/batch_grasp_collect.py` 每轮 sim 结束后自动调用）把该物体 **所有 round** 的 `successful_grasps` 拼到一个 HDF5。默认 **不去重**；若 batch 开启 `--merge-deduplicate`，会按位置/朝向去掉近似重复，并在文件属性里标记 `deduplicated=true`。 + +默认 mesh 策略：**`--no-rotation`**（与 SAM3D 原始朝向一致）；`mesh_prerotation` 多为单位阵（`method=identity`）。 + +--- + +## 文件命名 + +| 模式 | 示例 | +|------|------| +| `{obj_id}_robot_gt_merged.hdf5` | `A01001_robot_gt_merged.hdf5` | + +`obj_id` 为 OakInk 等数据集中的物体 ID（如 `A01001`、`O02001`）。 + +--- + +## HDF5 结构 + +### 根（文件级 attributes） + +| 属性 | 类型 | 含义 | +|------|------|------| +| `obj_id` | str | 物体 ID | +| `success` | bool | 是否有至少一条成功抓取 | +| `n_successful` | int | 合并后的成功抓取条数 | +| `n_before_merge` | int | 合并前各轮成功条数之和（去重前） | +| `deduplicated` | bool | 合并时是否做了近重复剔除 | +| `n_source_files` | int | 参与合并的 `robot_gt` 文件个数 | +| `source_files` | str[] | 各轮 `*_robot_gt.hdf5` 的绝对路径（溯源用） | + +### 组 `successful_grasps/` + +- 属性 `count`：与 `n_successful` 相同。 +- 子组 `grasp_0`, `grasp_1`, …（按合并顺序编号，**不是**原始候选名）。 + +每个 `grasp_i`： + +**Attributes** + +| 属性 | 含义 | +|------|------| +| `name` | 原始候选名（如 `raycast_3`） | +| `score` | 生成阶段的抓取质量分 | +| `gripper_width` | 标称夹爪开口（米） | +| `approach_type` | 生成方式（如 `raycast`） | +| `source_file` | 该条来自哪一轮 `robot_gt` HDF5 | +| `has_contact_points` | Sim 是否写出接触点 | +| `finger_width_actual` | Sim 实测指宽（仅 `has_contact_points=true` 时有意义） | + +**Datasets（坐标均在物体局部坐标系，单位：米）** + +| 数据集 | shape | 含义 | +|--------|-------|------| +| `grasp_point` | (3,) | 抓取中心 | +| `rotation` | (3, 3) | 抓取姿态旋转矩阵；列 0 = 手指方向，列 2 = 接近方向 | +| `approach_dir` | (3,) | `rotation` 第 3 列 | +| `finger_dir` | (3,) | `rotation` 第 1 列 | +| `contact_points_local` | (K, 3) | 指尖接触点（物体系；仅部分抓取有） | + +**子组 `mesh_prerotation/`**（与 USD / sampler 一致的 mesh 预旋转） + +| 成员 | 含义 | +|------|------| +| `euler_xyz_deg` (3,) | 预旋转欧拉角（度） | +| `matrix` (3, 3) | 同上，旋转矩阵 | +| attrs `dataset` | 数据集名（如 `oakink`） | +| attrs `method` | 如 `identity` 或 `rotation.json` | +| attrs `rotation_json_path` | 若来自 canonical rotation，对应 json 路径 | + +--- + +## 读取示例 + +```python +import h5py + +with h5py.File("A01001_robot_gt_merged.hdf5", "r") as f: + obj_id = f.attrs["obj_id"] + n = f.attrs["n_successful"] + g0 = f["successful_grasps/grasp_0"] + point = g0["grasp_point"][:] + R = g0["rotation"][:] + name = g0.attrs["name"] +``` + +--- + +## 相关脚本 + +| 脚本 | 作用 | +|------|------| +| `tools/merge_robot_gt.py` | 手动合并多轮 `robot_gt` | +| `scripts/batch_grasp_collect.py` | 全量 batch，自动写本目录 | +| `tools/vis_robot_gt.py` | 可视化成功抓取 | diff --git a/RobotPosterior_titan_tillR2/S10005_robot_gt_merged.hdf5 b/RobotPosterior_titan_tillR2/S10005_robot_gt_merged.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..97cac638b6b6d95bc6b5cee65b01b415579dfba9 Binary files /dev/null and b/RobotPosterior_titan_tillR2/S10005_robot_gt_merged.hdf5 differ diff --git a/RobotPosterior_titan_tillR2/S10007_robot_gt_merged.hdf5 b/RobotPosterior_titan_tillR2/S10007_robot_gt_merged.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..a81ab7fcee4d0604adeb4316388bcc2a4b6ac2c1 Binary files /dev/null and b/RobotPosterior_titan_tillR2/S10007_robot_gt_merged.hdf5 differ diff --git a/RobotPosterior_titan_tillR2/S10009_robot_gt_merged.hdf5 b/RobotPosterior_titan_tillR2/S10009_robot_gt_merged.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..7327ea75fdd381d943afb7e69899761f046834df Binary files 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