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Functions161 in github.com/abhaybd/GraspMolmo

⨍ Functions 161◇ Types & classes 22
↓ 1 callersMethodregister
(self, template: np.ndarray, source: np.ndarray, **kwargs)
graspmolmo/eval/pointcloud.py:144
↓ 1 callersFunctionretrieve_matching_job
(openai: OpenAI, batch_id: str, task_json_path: str, obs_dir: str, out_dir: str)
graspmolmo/datagen/match_tasks_to_grasps_v2.py:209
↓ 1 callersFunctionsample_arrangement
( datagen_cfg: DatagenConfig, object_keys: list[tuple[str, str]], object_meshes: list[trimesh.Trim
graspmolmo/datagen/datagen.py:336
↓ 1 callersFunctionsample_camera_pose
( scene: ss.Scene, datagen_cfg: DatagenConfig, cam_dfov: float, in_scene_annotations: list[Ann
graspmolmo/datagen/datagen.py:287
↓ 1 callersFunctionsample_scene
(datagen_cfg: DatagenConfig, annotations: list[Annotation], object_library: MeshLibrary, background_library: M
graspmolmo/datagen/datagen.py:421
↓ 1 callersFunctionscale_normalize
(A, B)
graspmolmo/subsample_grasps.py:58
↓ 1 callersFunctionset_camera
(scene: pyrender.Scene, cam_K: np.ndarray, cam_pose: np.ndarray)
graspmolmo/datagen/generate_obs.py:74
↓ 1 callersFunctionset_exit_event
()
graspmolmo/datagen/datagen_utils.py:20
↓ 1 callersFunctionshould_exit
()
graspmolmo/datagen/datagen_utils.py:23
↓ 1 callersFunctionsubmit_matching_job
(obs_dir: str, task_json_path: str, out_dir: str, openai: OpenAI)
graspmolmo/datagen/match_tasks_to_grasps_v2.py:147
↓ 1 callersFunctionsubsample_grasps
(args)
graspmolmo/preprocess_shapenet.py:129
↓ 1 callersMethodsubsampled_grasp_idxs
(self, category: str, obj_id: str)
graspmolmo/datagen/datagen_utils.py:168
↓ 1 callersFunctiontrimesh_scene_to_pyrender
(tr_scene: trimesh.Scene, bg_color=None, ambient_light=None)
graspmolmo/datagen/datagen_utils.py:89
↓ 1 callersFunctiontrimesh_to_pyrender
(tr_scene: trimesh.Scene)
graspmolmo/synthetic_annotations.py:121
↓ 1 callersFunctionvisible_annotations
Check if grasps are visible from the camera, i.e. the grasp is not occluded by an object in the scene. Args: scene: ss.Scene
graspmolmo/datagen/datagen.py:222
↓ 1 callersFunctionviz_2d
(args, library: TaskGraspScanLibrary)
examples/visualize_tg_img.py:52
↓ 1 callersFunctionviz_3d
(args, library: TaskGraspScanLibrary)
examples/visualize_tg_img.py:30
↓ 1 callersFunctionviz_obj_grasps
(meshes: list[trimesh.Trimesh], grasps: list[np.ndarray], grasp_idxs_per_obj: list[list[int]])
graspmolmo/subsample_grasps.py:275
Method__contains__
(self, item: tuple[str, int] | tuple[str, int, str])
graspmolmo/eval/utils.py:67
Method__contains__
(self, key: tuple[str, str])
graspmolmo/datagen/datagen_utils.py:138
Method__getitem__
(self, idx: int)
graspmolmo/eval/utils.py:80
Method__getitem__
(self, key: tuple[str, str])
graspmolmo/datagen/datagen_utils.py:122
Method__init__
(self, *args, **kwargs)
graspmolmo/utils.py:9
Method__init__
(self, dino_model_id="IDEA-Research/grounding-dino-tiny", sam_model_id="sam2.1_hiera_base_plus", device="cuda"
graspmolmo/eval/mask_detection.py:16
Method__init__
(self, tg_dir: str)
graspmolmo/eval/utils.py:44
Method__init__
(self, use_rri, use_tnet=False, nearest_neighbors=20)
graspmolmo/eval/pointcloud.py:21
Method__init__
(self, device="cuda")
graspmolmo/eval/pointcloud.py:95
Method__init__
(self, *steps: PCRegistration)
graspmolmo/eval/pointcloud.py:141
Method__init__
(self)
graspmolmo/inference/grasp_predictor.py:50
Method__init__
Args: data_dir: Path to the data directory library: Dictionary of object categories to set of object IDs
graspmolmo/datagen/datagen_utils.py:99
Method__iter__
(self)
graspmolmo/eval/utils.py:138
Method__iter__
(self)
graspmolmo/datagen/datagen_utils.py:133
Method__len__
(self)
graspmolmo/eval/utils.py:49
Method__len__
(self)
graspmolmo/datagen/datagen_utils.py:130
Functioncopy_images
(scene_path: str, out_dir: str)
graspmolmo/datagen/package_pointing_data.py:113
Functioncreate_molmo_sample
(row_id: str, image_path: str, task: str, grasp_desc: str, grasp_pt: np.ndarray, cot: bool)
graspmolmo/datagen/package_pointing_data.py:62
Functioncreate_robopoint_sample
(row_id: str, image_path: str, task: str, grasp_desc: str, grasp_pt: np.ndarray, cot: bool)
graspmolmo/datagen/package_pointing_data.py:34
Functioncreate_sample
(out_dir: str, data: dict[str, Any], grasp_labels: dict[str, dict[str, int]], copy_images: bool)
graspmolmo/package_tg_train.py:123
Functioncreate_sample
(obs_dir: str, row: pd.Series, cot: bool, format: str)
graspmolmo/datagen/package_pointing_data.py:83
Functiondepth_to_pc
(depth: np.ndarray, cam_K: np.ndarray)
graspmolmo/inference/utils.py:15
Functionexit_if_orphaned
()
graspmolmo/datagen/datagen.py:535
Methodforward
(self, pts)
graspmolmo/eval/pointcloud.py:37
Methodforward
(self, template, source)
graspmolmo/eval/pointcloud.py:51
Methodget_views
(self, object_id: str)
graspmolmo/eval/utils.py:59
Functionload_and_align
(data_dir: str, path: str, target_cvh: trimesh.Trimesh)
graspmolmo/subsample_grasps.py:169
Functionload_annotation
(path: str)
graspmolmo/datagen/datagen_utils.py:56
Functionnot_none
(x: Any)
graspmolmo/datagen/datagen_utils.py:29
Methodobjects
(self, category: str)
graspmolmo/datagen/datagen_utils.py:144
Functionon_job_done
(f: Future, submit_semaphore: threading.Semaphore, pbar: tqdm, executor: Executor)
graspmolmo/package_tg_train.py:156
Functionon_job_done
(future: Future)
graspmolmo/datagen/generate_obs.py:281
Functionon_job_done
(f: Future, submit_semaphore: threading.Semaphore, pbar: tqdm, executor: Executor)
graspmolmo/datagen/package_pointing_data.py:102
Methodpred_grasp
Args: image: The image of the scene. pc: (*, 3) The point cloud of the scene. task: The task to perform.
graspmolmo/inference/grasp_predictor.py:95
Functionprocgen_init
(data_dir: str, blacklist_file: str | None, split_file: str | None)
graspmolmo/datagen/datagen.py:499
Functionprocgen_worker
(datagen_cfg: DatagenConfig, out_dir: str)
graspmolmo/datagen/datagen.py:542
Functionproject_grasps_for_asset
(args, grasp_filename: str)
graspmolmo/preprocess_shapenet.py:91
Functionraise_error
(e: Exception)
graspmolmo/subsample_grasps.py:190
Methodregister
(self, template: np.ndarray, source: np.ndarray)
graspmolmo/eval/pointcloud.py:109
Methodregister
(self, template: np.ndarray, source: np.ndarray, max_iterations: int = 100, threshold: float = 1e-8)
graspmolmo/eval/pointcloud.py:130
Functionrender
(out_dir: str, scene_dir: str)
graspmolmo/datagen/generate_obs.py:157
Functionsubmit
(args, client: OpenAI)
graspmolmo/synthetic_annotations.py:263
Functionworker_init
(cfg: dict[str, Any])
graspmolmo/datagen/generate_obs.py:49
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