non square boding area

[seivazi]

A numpy error : operand could not be broadcast together with shapes
I noticed, in grasp_entropy_node.py file the operation of numpy array are working only if bounding box (mvp_grasp.yaml) is square otherwise the dimension of some of the arrays are swap. The error first occur in line 231 but if you change the shape of d_from_prev_view to the current dimension then the same issue comes up in other part of the code.

Could you test whether you can define non square boding area?

[phuicy]

I can confirm this is reproducible.

One option is to change grid_world to be based on bins rather than resolution.

[seivazi]

I also now remember it. @dougsm once mentioned about it in a another issue. @phuicy what do you mean based on the bins?

[phuicy]

So at the moment, a grid is made based on some fixed resolution in x and y. Instead, a resolution in x and y could be independently determined by a fixed number of bins (number of sections in the grid). This would allow for a rectangular grid.