how to query at a higher resolution of 60×60×60

[ut-austin-rpl]

how to query at a higher resolution of 60×60×60

[Steve-Tod]

1. It's probably because you either forgot to specify the resolution of TSDF. You need to set both. To set TSDF resolution, see here and here.
2. If you only remove the --sideview argument, the model will get one random view observation of the scene, while the model is trained on a specific sideview, so it's natural that it can't generalize. If you don't want --sideview, you need to train one model without it to align training and test settings.

[jxtxwsbn]

Thanks, it works well now. I also noticed that the model fails to generate any grasps especially on the pile scenario. Does it mean the query points are all far away from the observed surface?

[Steve-Tod]

Hmm I don't think so, the query points are designed to be near the surface from this line. It's probably the network has low confidence on the predicted grasp (lower than the threshold), you can try using a smaller threshold by changing this argument.

[jxtxwsbn]

I see. Since I used the --force argument, the qual-th doesn't affect but there is also a LOW_TH that does affect. Thanks.