Feat/robot fixes #1075
Feat/robot fixes #1075
Conversation
… of controller existence due to subsume feature
for more information, see https://pre-commit.ci
# Conflicts: # omnigibson/examples/robots/curobo_example.py # omnigibson/robots/manipulation_robot.py # tests/test_curobo.py
for more information, see https://pre-commit.ci
… initially sleeping are not tracked
…pper step() kwargs
for more information, see https://pre-commit.ci
…neration during custom robot import
# Conflicts: # omnigibson/action_primitives/starter_semantic_action_primitives.py # omnigibson/configs/tiago_primitives.yaml # omnigibson/envs/data_wrapper.py # omnigibson/examples/robots/curobo_example.py # omnigibson/robots/fetch.py # tests/test_curobo.py
for more information, see https://pre-commit.ci
| def eef_to_fingertip_lengths(self): | ||
| return {arm: {name: 0.087 for name in names} for arm, names in self.finger_link_names.items()} |
There was a problem hiding this comment.
hmm is this 0.087 actually correct?
There was a problem hiding this comment.
hmmm you're right -- i had just directly converted finger_lengths to eef_to_fingertip_length, which is not correct.
Maybe I can remove this for now? It isn't used anywhere in the code currently, so perhaps it should be (re-)tuned later once there's an actual use case for A1
| def eef_to_fingertip_lengths(self): | ||
| return {arm: {name: 0.1 for name in names} for arm, names in self.finger_link_names.items()} |
There was a problem hiding this comment.
we should also dynamically compute this if parallel gripper is used?
| @@ -276,11 +286,11 @@ def teleop_rotation_offset(self): | |||
| return {self.default_arm: self._teleop_rotation_offset} | |||
|
|
|||
| @property | |||
| def assisted_grasp_start_points(self): | |||
| def _assisted_grasp_start_points(self): | |||
| def eef_to_fingertip_lengths(self): | ||
| return {arm: {name: 0.15 for name in names} for arm, names in self.finger_link_names.items()} |
| @@ -40,15 +40,15 @@ def curobo_path(self): | |||
| return os.path.join(gm.ASSET_PATH, "models/franka/franka_mounted_description_curobo.yaml") | |||
|
|
|||
| @property | |||
| def assisted_grasp_start_points(self): | |||
| def _assisted_grasp_start_points(self): | |||
| def eef_to_fingertip_lengths(self): | ||
| return {arm: {name: 0.04 for name in names} for arm, names in self.finger_link_names.items()} |
There was a problem hiding this comment.
same? this one is parallel gripper as well?
| # Reset the environment | ||
| env.scene.reset() | ||
|
|
There was a problem hiding this comment.
hmm why do we need to remove this?
| if not is_parallel_jaw: | ||
| self._default_ag_start_points[arm] = None | ||
| self._default_ag_end_points[arm] = None |
There was a problem hiding this comment.
hmm should we assert is_parallel_jaw here?
|
|
||
| # Now, only keep points that are above the parent max z by 20% for inferring y values | ||
| finger_range = finger_max_z - finger_parent_max_z | ||
| valid_idxs = th.where(finger_pts[:, 2] > (finger_parent_max_z + finger_range * 0.2))[0] |
There was a problem hiding this comment.
maybe make 0.2 and 0.8 into macros?
| grasp_pts = (grasp_pts @ finger_to_eef_tf.T)[:, :3] | ||
| grasping_points = [ | ||
| GraspingPoint(link_name=finger_link.body_name, position=grasp_pt) for grasp_pt in grasp_pts | ||
| ] |
There was a problem hiding this comment.
can we add a comment here saying "we convert the grasp_pts from the eef frame to the finger frame?
No description provided.