[Question]: How to update object names file to handle new RLBench tasks

[gregor]

Hi. I'm trying to test Voxposer in a set of environments from RLBench, but different from the ones currently exposed in the playground.ipynb. Specifically, I wanted to know how to update the task_object_names.json to allow other tasks from RLBench to be tested. What is the information that I have to set into the json file?. For example, for the task basketball_in_hoop, I'm using the following entry in the table of object names:

"basketball_in_hoop": [["ball", "ball"], ["hoop", "basket_ball_hoop_visual"]],

Notice that I'm using the object name I'm using is the one of the visual used for the hoop object, not the respondable (collider). The image below shows the scene hierarchy for the basketball_in_hoop task; note that for the hoop, there's a visual and a respondable, so I was wondering which one is the name I should used for the table in the json file.

Similarly, for other tasks, I sometimes use the respondable for the object name, and the tasks doesn't succeed, and after changing to the visual, the task keeps failing, so I'm not sure if it's an error on my end, or an error from Voxposer.

Thanks in advance.