Fix Spot-floating bug #1661
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Fix Spot-floating bug #1661
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eundersander
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| # Offset the base | ||
| end_pos -= self.cur_articulated_agent.params.base_offset | ||
| # Offset the base if the base height is different between end_pos and the current state | ||
| if end_pos[1] != rigid_state.translation[1]: |
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Have you tested this in a scene with different floor heights? At a glance, it's not really intuitive why this fix is necessary or correct.
jimmytyyang
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Nov 2, 2023
rpartsey
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Nov 9, 2023
* Using cleaner Spot-floating bug fix (#1661) * fix spot floating bug * Ruta's rearrange study progress_str changes * Ruta's shorter tutorial changes * keepping only short tutorial version * enable tutorial for the AppStateSocialNavStudy * delete file added after rebase
dannymcy
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Jul 8, 2024
* fix spot floating bug
HHYHRHY
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Aug 31, 2024
* fix spot floating bug
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Motivation and Context
Fix Spot-floating bug (see video attached). For more context see this Asana task.
Screen.Recording.2023-10-31.at.16.02.31.mov
How Has This Been Tested
Running HITL tool locally on MacBook Pro 2021.
python examples/siro_sandbox/sandbox_app.py \ --disable-inverse-kinematics \ --never-end \ --gui-controlled-agent-index 1 \ --app-state rearrange \ --cfg social_rearrange/pop_play.yaml \ --cfg-opts \ habitat.environment.iterator_options.cycle=False \ habitat_baselines.evaluate=True \ habitat_baselines.num_environments=1 \ habitat_baselines.eval.should_load_ckpt=False \ habitat_baselines.rl.agent.num_pool_agents_per_type='[1,1]' \ habitat.simulator.habitat_sim_v0.allow_sliding=FalseTypes of changes
Checklist