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[SKILLs] Spot open drawer#1803

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Commits on Jan 14, 2024

• make place spot task

  

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• place the object at the receptale. Use this to check if the object is properly placed

  

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Commits on Jan 15, 2024

• consider x,y location

  

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• add image pre-train features

  

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Commits on Jan 16, 2024

• add goal textual features

  

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• add a flag to force the model run in the cpus to prevent out of memory issue

  

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Commits on Jan 17, 2024

• change model from float to float16

  

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Commits on Jan 20, 2024

• refine #1: add ee location and orientation function

  

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Commits on Jan 21, 2024

• refine #2: add snap down function to place the target

  

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• refine #3: add orientation reward/sensor/measurement for the ee

  

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• refine #4: init the arm pose based on fine-grained pick

  

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• refine #5: refine the place yaml

  

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• refine #6 add semantic yaml

  

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• fix sensor name

  

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Commits on Jan 25, 2024

• refine #7: add check for orientation when dropping the object, add metrics for object_at_goal

  

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• refine #8 fix snap_down_height_diff round issue

  

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• refine #8: add _prev_obj_at_receptacle to register prev distance

  

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• bug fixed for the place reward: change from self._config.ee_orientation_to_initial_threshold != -1 to self._config.ee_orientation_to_initial_threshold == -1

  

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Commits on Jan 26, 2024

• add textual info for target object that the robot is holding

  

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Commits on Jan 28, 2024

• refine #9: add semantic sensor for the receptacle; add receptacle ids in sim

  

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• refine #10 add hssd and replica_cad training yamls with obj feat and rep mask; fix task.object_id

  

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Commits on Feb 4, 2024

• refine #1: add object to target sensor with the new yaml

  

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• refine #2 add jaw camera

  

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• add jaw sesnor

  

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Commits on Feb 5, 2024

• refine #3: add jaw semantic sensor

  

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• refine #4 remove unnessary sensors

  

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Commits on Feb 14, 2024

• refine the object goal sensor

  

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• make number of targets to be int not float

  

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Commits on Feb 15, 2024

• fix rpy for ee

  

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• refine the object orientation sensors

  

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Commits on Feb 16, 2024

• add top down grasping case

  

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• update how we compute the pose

  

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Commits on Feb 17, 2024

• make the arm changes to simulate different init condition

  

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• drawer gaze marker

  

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• update open reward

  

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• refine

  

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• add yaml

  

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Commits on Feb 18, 2024

• add HandleBBoxSensor

  

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• add comment

  

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Commits on Feb 19, 2024

• add handle size

  

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• clean up the yaml for training

  

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• unify open and close drawers tasks

  

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• refine the RearrangeOpenCloseDrawerTaskV1 env

  

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• refine the control freq

  

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Commits on Feb 20, 2024

• make the bbox sensor have the same size as the one in the arm depth sensor

  

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Commits on Mar 2, 2024

• improve simulation features: set the random arm/reward function design

  

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Commits on Mar 3, 2024

• add pose sensor

  

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• fix the bug that the agent cannot get cur pose when the agent succeeds

  

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Commits on Mar 6, 2024

• add height detla check

  

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• remove print

  

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• add the bboox sensor to be the arm depth parameter and add do not check grasp to make the learning easier

  

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Commits on Mar 8, 2024

• function for dropping the detection bounding box for real world object detection

  

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Commits on Mar 9, 2024

• fix bbox img return for being np.float32

  

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• add a flag to control the distance to the handle

  

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