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[Bugfix] Vary sub-scene pick clutter object targets. #1091

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[Bugfix] Vary sub-scene pick clutter object targets. #1091

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10 changes: 5 additions & 5 deletions mani_skill/envs/tasks/tabletop/pick_clutter_ycb.py
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Original file line number Diff line number Diff line change
Expand Up @@ -147,13 +147,13 @@ def _load_scene(self, options: dict):
def _sample_target_objects(self):
# note this samples new target objects for every sub-scene
target_objects = []
for i in range(self.num_envs):
selected_obj_idxs = torch.randint(low=0, high=99999, size=(self.num_envs,))
selected_obj_idxs[i] = selected_obj_idxs[i] % len(
self.selectable_target_objects[-1]
selected_obj_idxs = self._batched_episode_rng.randint(low=0, high=99999)
for i, selected_obj_idx in enumerate(selected_obj_idxs):
selected_obj_idx = selected_obj_idx % len(
self.selectable_target_objects[i]
)
target_objects.append(
self.selectable_target_objects[-1][selected_obj_idxs[i]]
self.selectable_target_objects[i][selected_obj_idx]
)
self.target_object = Actor.merge(target_objects, name="target_object")

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