Mobile Manipulator Bug Fix and Input Validation#1537
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| def base_pos(self, position): | ||
| def base_pos(self, position: mn.Vector3): | ||
| """Set the robot base to a desired ground position (e.g. NavMesh point) via configured local offset from origin.""" | ||
| if len(position) != 3: |
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Assuming this respects the typing, this should always evaluate as true. Do you mean position: Union[mn.Vector, Sequence[float], Tuple[float, float, float]] or such?
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The input should be a mn.Vector3 but the user may not pass the correct input here, so I am checking the length to be sure.
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Oct 18, 2021
| self.renderer.start_draw_jobs() | ||
| self.step_physics(dt) | ||
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| def start_async_render(self, agent_ids: Union[int, List[int]] = 0): |
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This isn't called anywhere is it?
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It is used in Habitat Lab where I need to separately step physics.
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Skylion007
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Oct 21, 2021
…obile_manipulator_fixes
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Motivation and Context
There is a bug that sometimes occurs with the mobile manipulator after several million steps of training. The issue is
self.sim_obj.joint_positionswill become 0 length. I am not sure what causes this bug or how to reliably reproduce it. As a temporary solution, I've just added code to reset the episode when this happens.Another issue was that it was easy to pass wrong joint sizes or NaN inputs to the robot and the simulation would silently fail. I tried to fix this by adding some input validation (making sure the input is the right size and not NaN) and if the validation fails, throwing an exception.
Also added kinematic control to the mobile manipulator.
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