fix a bug

r-pad · Nov 21, 2023 · bece533 · bece533
1 parent 40139d8
commit bece533
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/notebooks/explore_dset2.ipynb b/notebooks/explore_dset2.ipynb
@@ -200,10 +200,10 @@
     "\n",
     "# o3d.visualization.draw_geometries([\n",
     "wo3d.draw([\n",
-    "    pcd, \n",
+    "    # pcd, \n",
     "    pcd2,\n",
     "    pcd3,\n",
-    "    pcd4,\n",
+    "    # pcd4,\n",
     "])"
    ]
   },

diff --git a/src/rpad/rlbench_utils/placement_dataset.py b/src/rpad/rlbench_utils/placement_dataset.py
@@ -173,14 +173,14 @@ class StackWinePhase(str, Enum):
                 ],
                 "anchor_obj_names": ["solve_puzzle_piece_visual2"],
                 "action_pose_name": "gripper",
-                "anchor_pose_name": "solve_puzzle_frame",
+                "anchor_pose_name": "solve_puzzle_piece_visual2",
             },
             "place": {
                 "action_obj_names": ["solve_puzzle_piece_visual2"],
-                "anchor_obj_names": ["solve_puzzle_frame", "solve_puzzle_piece1"]
+                "anchor_obj_names": ["solve_puzzle_piece1"]
                 + [f"solve_puzzle_piece{i}" for i in range(3, 25)],
                 "action_pose_name": "solve_puzzle_piece_visual2",
-                "anchor_pose_name": "solve_puzzle_frame",
+                "anchor_pose_name": "solve_puzzle_piece1",
             },
         },
     },