search

DavidPL1 / assembly_example

Example code for interaction with our assembly simulation ICRA 2023 challenge
7 stars 1 forks source link

Plugging: score tracker expects 5 subtasks to be completed whereas there are only 4 #24

Closed abhishek47kashyap closed 1 year ago

abhishek47kashyap commented 1 year ago

As described in Plugging task's Scoring section, there are 4 sub-tasks with the final one being Click-insert the plug.

After completing all 4 sub-tasks, these are the logs:

[ INFO] [1682231279.073122970, 17.924000000] [ros.plugging_score_plugin.plugging_score_plugin] [/mujoco_server]: Stage 4 (click-insert plug) completed in 4.173 s!
[ INFO] [1682231279.816344775, 18.086000000]: Controller 'effort_joint_trajectory_controller' successfully finished
[ INFO] [1682231280.106069312, 18.100000000]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1682231280.106276968, 18.101000000]: Execution completed: SUCCEEDED
[ INFO] [1682231428.323575801, 47.925000000] [ros.plugging_score_plugin.plugging_score_plugin] [/mujoco_server]: TIMEOUT! Could not finish stage 5 in time!
[INFO] [1682231428.382301]: Assembly failed
[INFO] [1682231428.382710]: (7.672000000000897, 6.077999999996922, 0.0009999999999994458, 4.173000000001105, -1.0)
[DEBUG] [1682231428.388165602, 47.972000000] [ros.mujoco_ros] [/mujoco_server]: PauseCB called with: 1

Probably a bug with the score-tracker?

balandbal commented 1 year ago

Yes, it is a bug that we are aware of. It will probably remain one, as it should not affect the score calculation.