add articulate debug in load_task_solution at part_joint_limits keyerror problem

data_gen_dependencies/manip_solver.py

@@ -2,8 +2,10 @@
 import copy
 import json
 import os
+from sqlite3 import dbapi2
 import time
 
+from pyboot.utils.log import Log
 import trimesh
 
 curPath = os.path.abspath(os.path.dirname(__file__))
@@ -210,6 +212,7 @@ def get_aligned_pose(active_obj, passive_obj, distance=0.01, N=1):
 
 
 def load_task_solution(task_info):
+    Log.info('Loading task solution')
     # task_info = json.load(open('%s/task_info.json'%task_dir, 'rb'))
     stages = task_info['stages']
 
@@ -217,7 +220,8 @@ def load_task_solution(task_info):
         'gripper': OmniObject('gripper')
     }
 
-    for obj_info in task_info['objects']:
+    for i, obj_info in enumerate(task_info['objects']):
+        Log.info(f'Loading object: {obj_info["object_id"]} [Loading task solution: {i+1}/{len(task_info["objects"])}]')
         obj_id = obj_info['object_id']
         if obj_id == 'fix_pose':
             obj = OmniObject('fix_pose')
@@ -245,15 +249,19 @@ def load_task_solution(task_info):
             objects[obj_id] = obj
 
             if hasattr(obj, 'part_ids'):
-                if hasattr(obj, 'part_joint_limits') and obj.part_joint_limits is not None:
-                    obj_parts_joint_limits = obj.part_joint_limits
                 for part_id in obj.part_ids:
                     id = obj_id + '/%s' % part_id
                     objects[id] = copy.deepcopy(obj)
                     objects[id].name = id
-                    objects[id].part_joint_limit = obj_parts_joint_limits[part_id]
+                    #====== DEBUG START ======
+                    print(f'debug: ')
+                    import ipdb;ipdb.set_trace()
+                    #======  DEBUG END  ======
+                    if hasattr(obj, 'part_joint_limits') and obj.part_joint_limits is not None:
+                        objects[id].part_joint_limit = obj.part_joint_limits[part_id]
                 if len(obj.part_ids):
                     del objects[obj_id]
+    Log.success('Finished Loading task solution')
     return stages, objects