How is the instruction flow from High level planner to low level skills (Pick and Place)

[ruddradev]

Habitat-Lab and Habitat-Sim versions

Habitat-Lab: v0.3.0

Habitat-Sim: v0.3.0

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Docs and Tutorials

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Did you check out the tutorials? https://aihabitat.org/tutorial/2020/
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❓ Questions and Help

Hello,

I need help to understand how the code flow works when running the Habitat 2.0 rearrangement task in Habitat3.0. I came across the RearrangeSim class and the HRL library that defines the high level planner and low level skills. However, I am not able to get the planner to switch to a pick skill by the arm from the default "Snap". I tried the following -

i) Changed the grasping from "MagicGrasp" class to "SuctionGrasp".
ii) Added ArmAction to the action space of the agent.

I believe the control to go to PickSkillPolicy class where it can further execute the policy for picking the target object.

Is there anything else I need to add?

[vantony1]

hi @ruddradev, did you figure this issue out? I am having trouble getting the end effector to move closer to the target before grasping since I can't seem to be able to access the IK implmentation. my ik_helper = None