I am observing an error in rotation when running the offline pose demo script on objects that aren’t from YCB-Video.
The tutorial I am following is here:
By visualizing the object axis and bounding cuboid, I can see that the pose of the cracker box object is valid:
However, when I try this on a simple cube object, I observe the following:
The translation appears correct, but not the rotation.
My workflow is to export to .usda from blender. Here are the .blend and .usda files:
cube.blend (929.9 KB)
cube.usda (8.6 KB)
I’m testing on a cube with the XYZ faces colored red, green, and blue, respectively, to help with debugging.
Here are my scripts for data generation and visualization:
offline_pose_generation_aja9675.zip (372.6 KB)
I only made a few changes to offline_pose_generation.py for the new object path and config file.
Reproducing is very easy:
Generate cracker box images:
$ISAAC_ROOT/python.sh ./offline_pose_generation.py --num_mesh 0 --num_dome 25 --writer ycbvideo --output_folder ./test_data/cracker_box
Generate cube images:
$ISAAC_ROOT/python.sh ./offline_pose_cube.py --num_mesh 0 --num_dome 25 --writer ycbvideo --output_folder ./test_data/cube