feat: add demo_object_mesh_vis.py with visual mesh rendering#4
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alexhegit wants to merge 3 commits into
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feat: add demo_object_mesh_vis.py with visual mesh rendering#4alexhegit wants to merge 3 commits into
alexhegit wants to merge 3 commits into
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Add explicit ROCm 7.2 support via uv extras while preserving the existing CUDA workflow (uv sync picks up PyPI CUDA wheels on Linux). Changes: - pyproject.toml: Add rocm extra with ROCm 7.2 index routing, conflict resolution (rocm + end2end are mutually exclusive), remove torch-backend=auto in favor of explicit [tool.uv.sources] index routing, relax torch upper bound to allow ROCm 2.12+ wheels - AGENTS.md: Add ROCm support documentation with what works / what doesn't Verified on AMD Radeon PRO W7900 (48GB VRAM) + ROCm 7.2: - torch==2.12.0+rocm7.2 detects GPU correctly - ptv3_vanilla backbone forward pass runs on GPU - 93/96 tests pass (3 skipped = integration tests needing live server) - pointnet2_ops gracefully degrades (warning only) - All demo scripts, ZMQ server/client, gripper wizard work What works on ROCm: - Base inference (point clouds, meshes, scenes) - All demo scripts (demo_object_pc, demo_scene_pc, demo_object_mesh) - ZMQ server/client (uv sync --extra rocm --extra serve) - Gripper config wizard (browser GUI) - Tests (uv run pytest -m "not end2end") What does NOT work on ROCm: - End-to-end pipeline (nvidia-curobo, newton, warp are CUDA-only) - Docker training (NGC base image is NVIDIA-only) - pointnet2_ops PointNet++ backbone (gracefully degrades, use ptv3_vanilla) Usage: uv sync # CUDA (unchanged) uv sync --extra rocm # AMD ROCm Signed-off-by: AMD <amd@amd.com> Signed-off-by: AlexHe99 <alehe@amd.com>
Add OpenArm 7DOF bimanual arm's pinch gripper as a new proc_gripper. The gripper is a symmetric 2-finger revolute design with mimic joints. Files: - config.json: gripper parameters derived from openarm_description URDF - gripper.urdf: minimal URDF matching config joint/link names - vis_mesh.obj: combined visual mesh from openarm_description DAE files - coll_mesh.obj: bounding box collision mesh URDF source: enactic/openarm_description (output.urdf) Finger joints: openarm_left_finger_joint1/2 with mimic multiplier=-1 Joint limits: [-1.5708, 0] rad (±90°) Signed-off-by: beininghan <beininghan@gmail.com> Signed-off-by: AlexHe99 <alehe@amd.com>
New demo script based on demo_object_mesh.py that renders the
gripper's visual mesh (detailed shape) instead of collision mesh
(simple bounding box) at grasp poses.
Usage:
uv run python scripts/demo_object_mesh_vis.py \
--mesh_file assets/sample_data/object_mesh/banana.obj \
--gripper_name openarm --plot_mesh
Falls back to collision_mesh when visual_mesh is not available.
Signed-off-by: alexhegit <alexhegit@users.noreply.github.com>
Signed-off-by: AlexHe99 <alehe@amd.com>
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Summary
Adds
demo_object_mesh_vis.py— a new demo script that renders the gripper's visual mesh (detailed shape) instead of collision mesh (simple bounding box) at grasp poses.Problem
demo_object_mesh.pyusesgripper.collision_meshfor rendering gripper meshes at grasp poses. The collision mesh is a simple bounding box (8 vertices), so grippers appear as opaque boxes.Solution
New script
demo_object_mesh_vis.pyusesgripper.visual_mesh(detailed model, e.g. 28K vertices) with fallback tocollision_meshwhen visual mesh is not available.Usage
uv run python scripts/demo_object_mesh_vis.py \ --mesh_file assets/sample_data/object_mesh/banana.obj \ --gripper_name openarm \ --assets_dir assets \ --plot_meshVerified
vis_mesh.objis missingSigned-off-by: alexhegit alexhegit@users.noreply.github.com