Stability Only JSON

Author: kaikwan

results/Stability-Isaac-Pack-NoArm-v0_2025-07-17_16-15-05/test_placement.json

@@ -0,0 +1,46 @@
+{
+    "0": {
+        "gcus": [
+            0.3505995273590088,
+            0.40213531255722046,
+            0.3272291123867035,
+            0.34937676787376404,
+            0.39807385206222534,
+            0.3915533423423767,
+            0.37115952372550964,
+            0.39112389087677,
+            0.3972339332103729,
+            0.3746812343597412,
+            0.35005295276641846
+        ],
+        "obj_transfers": [
+            23.0,
+            18.0,
+            21.0,
+            18.0,
+            21.0,
+            17.0,
+            20.0,
+            22.0,
+            21.0,
+            21.0,
+            15.0
+        ],
+        "source_ejections": [
+            13.0,
+            11.0,
+            13.0,
+            11.0,
+            12.0,
+            10.0,
+            12.0,
+            13.0,
+            11.0,
+            11.0,
+            10.0
+        ]
+    },
+    "mean_gcus": 0.3730199499563737,
+    "mean_obj_transfers": 19.727272727272727,
+    "mean_source_ejections": 11.545454545454545
+}

scripts/fanwang_bpp/bpp_utils.py

@@ -215,14 +215,16 @@ def get_action(self, env, obj_indicies, tote_ids, plot=False):
         t = time.time()
         obj_indicies[env_idx] = [obj for obj in obj_indicies[env_idx] if obj not in self.unpackable_obj_idx]
 
-        # Find the object with the largest volume
-        obj_vols = []
-        for idx in obj_indicies[env_idx]:
-            # Get dimensions of the object and compute its volume
-            obj_vols.append((idx, self.tote_manager.obj_volumes[env_idx, idx].item()))
+        obj_idx = obj_indicies[env_idx][torch.randint(0, len(obj_indicies[env_idx]), (1,), device=env.unwrapped.device).item()]
+
+        # # Find the object with the largest volume
+        # obj_vols = []
+        # for idx in obj_indicies[env_idx]:
+        #     # Get dimensions of the object and compute its volume
+        #     obj_vols.append((idx, self.tote_manager.obj_volumes[env_idx, idx].item()))
 
-        # Sort by volume (largest first) and get the index
-        obj_idx = sorted(obj_vols, key=lambda x: x[1], reverse=True)[0][0]
+        # # Sort by volume (largest first) and get the index
+        # obj_idx = sorted(obj_vols, key=lambda x: x[1], reverse=True)[0][0]
         curr_item = self.problem.items[obj_idx.item()]
         obj_idx = obj_idx.unsqueeze(0)
         transforms = self.problem.container.search_possible_position(curr_item, step_width=90)