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issue_add_3rd_bin #3

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Hanziscool opened this issue Aug 3, 2021 · 0 comments
Open

issue_add_3rd_bin #3

Hanziscool opened this issue Aug 3, 2021 · 0 comments
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@Hanziscool
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enhancement New feature or request
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complete_script_n...

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@Hanziscool
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Currently we only have 2 bins (1 picking bin & 1 placing bin)

Need to add the third one on the left of the picking bin to implement ITER.

Screenshot 2021-08-03 at 10 02 30 AM

How are the bins loaded?

  1. In picking.py we need to import BinsArena from robosuite.models.arena
  2. In Arena: bins_arena.xml we have table_full_size (3-tuple): x, y, z of the table, table_friction (3-tuple): 3 mujoco friction, bin1_pos (3-tuple): Absolute cartesian coordinates
  3. In picking.py __init__ we can initialise bin1_pos = (0.1, -0.25, 0.8), self.bin1_pos = np.array(bin1_pos)
  4. In picking.py get_placement_initializer we have reference_pos = self.bin1_pos for pickObject
@Hanziscool Hanziscool added the enhancement New feature or request label Aug 3, 2021
@Hanziscool Hanziscool self-assigned this Aug 20, 2021
rojas70 pushed a commit that referenced this issue Oct 11, 2021
@HansenCugito @rojas70
# This is a combination of 4 commits.
551459c 
# This is the 1st commit message:

Fix fallen objs

In Picking.return_fallen_objs():
- Refactor for loop into list comp
- Tackle base case wehen we load 1 obj and the boject fell. We will return empty goal obj name, origin pos, unit quat, exactly like what we did in Picking.get_goal_object()
- Turn on fallen obj flag inside return_fallen_objs() function if all objects has fallen
In picking.py
- Rename self.fallen_objs_flag to self.all_objs_fallen_flag
In Picking._reset_internal:
- If fallen objs flag is on, copy obj names, not yet cons obj names from fallen objs back to obj names
- Proceed to clear fallen objs
- Turn off flag
In Picking.step()
- Update fallen obj flag name

# This is the commit message #2:

merge

# This is the commit message #3:

accepted merge changes

# This is the commit message #4:

Fix fallen objs, comment fallen objs
@rojas70 rojas70 added this to the complete_script_no_her milestone Dec 7, 2021
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@rojas70 @Hanziscool