The "points" in Code.

[Gumpest]

I wonder the data shape and meaning in https://github.com/huangwl18/ReKep/blob/main/main.py#L61.

[Gumpest]

Hope for the authors' responses. ⌛️

[yanrihong]

Please refer https://github.com/huangwl18/ReKep/blob/main/og_utils.py#L31，
I've been reproducing the work and trying to deploy it on a real machine lately, would love to discuss it if you're interested.

[Gumpest]

Please refer https://github.com/huangwl18/ReKep/blob/main/og_utils.py#L31， I've been reproducing the work and trying to deploy it on a real machine lately, would love to discuss it if you're interested.

Thanks a lot! Can I add your WeChat?

[yuuuuuu9527]

Please refer https://github.com/huangwl18/ReKep/blob/main/og_utils.py#L31， I've been reproducing the work and trying to deploy it on a real machine lately, would love to discuss it if you're interested.

I'm currently working on the same thing! If it's convenient, could we exchange contact information to discuss further?

[Everloom-129]

Here the points are point cloud data from the gibson simulator
In practice, you can replace it with RGB-D camera input
For each frame, I took:

• Debug: Input depth shape: (480, 640) as input frame
• Debug: Generated point cloud with shape: (307200, 3) after reshape to align input, 307200 = 480 * 640