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HITL - [Placeholder interface] Prevent placing objects when placement is impossible. #1882

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merged 3 commits into from
Apr 1, 2024
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HITL - [Placeholder interface] Prevent placing objects when placement is impossible. #1882

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32a3df5
Place objects back to their original position when placement fails.
0mdc Mar 28, 2024
e5af423
Cancel placement if not possible.
0mdc Mar 28, 2024
ee3e71a
Formatting fixes.
0mdc Mar 28, 2024
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11 changes: 9 additions & 2 deletions examples/hitl/rearrange_v2/rearrange_v2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ def __init__(self, app_service):
self._recent_reach_pos = None
self._paused = False
self._hide_gui_text = False
self._can_place_object = False

self._camera_helper = CameraHelper(
self._app_service.hitl_config,
Expand Down Expand Up @@ -212,14 +213,17 @@ def _update_grasping_and_set_act_hints(self, user_index):

# todo: implement grasping properly for each user. _held_obj_id, _has_grasp_preview, etc. must be tracked per user.
if self._held_obj_id is not None:
if self._get_user_key_down(user_index, GuiInput.KeyNS.SPACE):
if (
self._get_user_key_down(user_index, GuiInput.KeyNS.SPACE)
and self._can_place_object
):
if DO_HUMANOID_GRASP_OBJECTS:
# todo: better drop pos
drop_pos = self._get_gui_agent_translation(
user_index
) # self._gui_agent_controllers.get_base_translation()
else:
# GuiPlacementHelper has already placed this object, so nothing to do here
# GuiPlacementHelper has already placed this object.
pass
self._held_obj_id = None
else:
Expand Down Expand Up @@ -367,6 +371,9 @@ def _update_held_object_placement(self):
if self._placement_helper.update(ray, self._held_obj_id):
# sloppy: save another keyframe here since we just moved the held object
self.get_sim().gfx_replay_manager.save_keyframe()
self._can_place_object = True
else:
self._can_place_object = False

def sim_update(self, dt, post_sim_update_dict):
if (
Expand Down