fix(demo-collision-free-grasps): target object ID (+3 more)

[andrewwhitecdw]

Small fixes in scripts/demo_collision_free_grasps.py:

fix: target object ID hardcoded to 1

Fix: Replace:

    parser.add_argument(
        "--max_scene_points",
        type=int,
        default=8192,
        help="Maximum number of scene points to use for collision checking (for speed optimization)",
    )
    parser.add_argument(
        "--visualize",

with:

    parser.add_argument(
        "--max_scene_points",
        type=int,
        default=8192,
        help="Maximum number of scene points to use for collision checking (for speed optimization)",
    )
    parser.add_argument(
        "--target_object_id",
        type=int,
        default=1,
        help="Instance ID of the target object in the segmentation mask",
    )
    parser.add_argument(
        "--visualize",

fix: target object ID hardcoded to 1

Fix: Replace:

                target_object_id=1,  # Assuming object has ID 1

with:

                target_object_id=args.target_object_id,

fix: contradictory required/default for camera_intrinsics

Fix: Replace:

    parser.add_argument(
        "--camera_intrinsics",
        type=float,
        nargs=4,
        required=True,
        default=[1480.589599609375, 1480.589599609375, 960.0, 540.0],
        help="Camera intrinsics as [fx, fy, cx, cy]",
    )

with:

    parser.add_argument(
        "--camera_intrinsics",
        type=float,
        nargs=4,
        default=[1480.589599609375, 1480.589599609375, 960.0, 540.0],
        help="Camera intrinsics as [fx, fy, cx, cy]",
    )

fix: results omit T_center, preventing frame recovery

Fix: Replace:

    results = {
        "all_grasps": grasps_centered,
        "all_scores": grasp_conf_inferred,
        "collision_free_mask": collision_free_mask,
        "collision_free_grasps": collision_free_grasps,
        "collision_free_scores": collision_free_scores,
        "scene_pc": scene_pc_centered,
        "object_pc": pc_centered,
        "camera_intrinsics": {"fx": fx, "fy": fy, "cx": cx, "cy": cy},
    }

with:

    results = {
        "all_grasps": grasps_centered,
        "all_scores": grasp_conf_inferred,
        "collision_free_mask": collision_free_mask,
        "collision_free_grasps": collision_free_grasps,
        "collision_free_scores": collision_free_scores,
        "scene_pc": scene_pc_centered,
        "object_pc": pc_centered,
        "camera_intrinsics": {"fx": fx, "fy": fy, "cx": cx, "cy": cy},
        "T_center": T_center,
    }

Files changed

• scripts/demo_collision_free_grasps.py

[andrewwhitecdw]

Closing this sweep-generated PR: sole commit is missing a valid Signed-off-by trailer. It does not meet the sweep requirements (single signed-off commit).