Closed nikita-petrashen closed 1 year ago
@nikita-petrashen, I am not sure what is happening here or in which context this is occurring. Some thoughts:
restore_scene
calls controller.step(action="SetObjectPoses")
(not exact code, but you got the idea) inside itself (line 120 in this file). I was trying to reproduce its behavior.Closing due to inactivity.
Hi! I've noticed a weird thing: the dictionary which contains
object poses
for scene initialization containsobjectName
s which are not present in the original scene (and other scenes too).For example, for
But in the original
FloorPlan28
the dictionary contains the following entry:FloorPlan28
scene there's only aSoapBottle_5564e8c7
.I also ran the following code:
controller = Controller(scene='FloorPlan28_physics')
event = controller.step((dict(action='SetObjectPoses', objectPoses=object_poses)))
and passed to itobject_poses
dict for taskpick_heat_then_place_in_recep-Tomato-None-SideTable-28
which is done in theFloorPlan28
scene.This is the state after scene loading:![image](https://user-images.githubusercontent.com/49820557/159026515-e47e1496-bfdd-4e5c-bbd2-6c214bcb32d5.png)
This is the state after![image](https://user-images.githubusercontent.com/49820557/159026707-b83e2d30-d944-425c-9386-3719a8f8c2d5.png)
SetObjectPoses
call:Also the number of the objects in
event.metadata
decreases from 62 to 32.Could you please hint how to fix this? I suppose the problem is that I miss some step where these
objectName
s in theobject_poses
are converted toobjectName
s in the scene.Thanks!