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…scripted grasping
Merge avi-master into WidowX
…cidentally deleted in the avi-master -> widowX merge process.
…O: fix later loop fail causing robot to get stuck.
…erent versions of misc.py and sawyer_base.py.
…ster with Jonathan's help.
…Env. BoxPackingEnv has new reward function that incentivizes opening box and dropping item into box, but no closing box incentive yet.
…owBoxPackingEnv reward function to be only based on door angle.
…r. Tested in scripted policy setting.
…fter the reaching reward worked.
…ting functionality to widow box packing scripted policy. URDF friction changes to robot gripper and box handle. Functional Widow200 grasp environment with step and reset.
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TODO:
--Two versions of utils/misc.py with unresolved differences aren't merged yet.
--Two versions of SawyerBase class in sawyer_base.py exist in the same file; currently the WidowX branch version is commented out. This needs to be resolved.
--Both avi-master and WidowX require
img = np.reshape(np.array(img), (48, 48, 4))in front of theimg = img[:,:,:-1]line in bullet/misc.py. I'm suspecting some package differences exist because Avi doesn't get this error on avi-master.