fix(grasp-evaluator): timeout check references loop index (+1 more)

[andrewwhitecdw]

Small fixes in grasp_evaluator/grasp_evaluator.py:

fix: timeout check references loop index before it is defined

Fix: Replace:

        while not all_done:

            # If the simulation is taking too long, declare fail
            if (timeit.default_timer() - loop_start > self.cfg['timeout']['other_modes']
                    and panda_fsms[i].state not in ['reorient', 'squeeze_no_gravity']) or (
                        timeit.default_timer()
                        - loop_start > self.cfg['timeout']['squeeze_no_gravity']
                        and panda_fsms[i].state == "squeeze_no_gravity"):
                print("Timed out")
                for i in range(len(self.env_handles)):
                    if panda_fsms[i].state != "done":
                        panda_fsms[i].state = "done"
                        panda_fsms[i].timed_out = True

with:

        while not all_done:

            # If the simulation is taking too long, declare fail
            elapsed = timeit.default_timer() - loop_start
            timed_out = False
            for i in range(len(self.env_handles)):
                if (elapsed > self.cfg['timeout']['other_modes']
                        and panda_fsms[i].state not in ['reorient', 'squeeze_no_gravity']) or (
                            elapsed > self.cfg['timeout']['squeeze_no_gravity']
                            and panda_fsms[i].state == "squeeze_no_gravity"):
                    timed_out = True
                    if panda_fsms[i].state != "done":
                        panda_fsms[i].state = "done"
                        panda_fsms[i].timed_out = True
            if timed_out:
                print("Timed out")

fix: retry loop never increments counter on failed URDF update

Fix: Replace:

        # Set object parameters for object material properties
        set_parameter_result = False
        fail_counter = 0
        while set_parameter_result is False and fail_counter < 10:
            try:
                set_parameter_result = self.set_object_parameters(
                    asset_file_object,
                    density=self.density,
                    youngs=self.youngs,
                    poissons=self.poissons)
            except BaseException:
                fail_counter += 1
                pass

with:

        # Set object parameters for object material properties
        set_parameter_result = False
        fail_counter = 0
        while set_parameter_result is False and fail_counter < 10:
            try:
                set_parameter_result = self.set_object_parameters(
                    asset_file_object,
                    density=self.density,
                    youngs=self.youngs,
                    poissons=self.poissons)
            except BaseException:
                pass
            if not set_parameter_result:
                fail_counter += 1

Files changed

• grasp_evaluator/grasp_evaluator.py