fixing object_id_to_object_name as it was breaking the gazing when us… #76
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…ing mask-rcnn when the misclassification occurs
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jimmytyyang
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Hi Tushar,
Thank you so much for working on this PR. It looks nice. Please take a look at the comments, and make sure that we run pre-commit to format the code for a PR. If you cannot find the pointer for pre-commit, we can find some time to set it up. Thank you!
jimmytyyang
reviewed
Oct 12, 2023
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Thank you for working on this @tusharsangam , I have left some comments. Let me know if they make sense. |
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@KavitShah1998 @jimmytyyang Let me know if this looks good to create merge request |
jimmytyyang
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Oct 20, 2023
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| from spot_rl.envs.gaze_env import construct_config_for_gaze | ||
| from spot_rl.envs.nav_env import construct_config_for_nav | ||
| from spot_rl.envs.place_env import construct_config_for_place | ||
| from spot_rl.envs.skill_manager import SpotSkillManager | ||
| from spot_rl.utils.utils import map_user_input_to_boolean | ||
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| if __name__ == "__main__": | ||
| run_the_loop = True # Don't break the test loop | ||
| is_in_position = False # is it before the receptacle | ||
| # Construct all three configs | ||
| nav_config, pick_config, place_config = ( | ||
| construct_config_for_nav(), | ||
| construct_config_for_gaze(), | ||
| construct_config_for_place(), | ||
| ) | ||
| # Modify any values in the config | ||
| nav_config.SUCCESS_DISTANCE = 0.10 | ||
| place_config.SUCCESS_DISTANCE = 0.10 | ||
| pick_config.SUCCESS_DISTANCE = 0.10 | ||
| pick_config.MAX_EPISODE_STEPS = 350 | ||
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| while run_the_loop: | ||
| # Send the modified configs in SpotSkillManager | ||
| spotskillmanager = SpotSkillManager(nav_config, pick_config, place_config) | ||
| if not is_in_position: | ||
| spotskillmanager.nav("pick_table_05_45") | ||
| # Reset Arm before gazing starts | ||
| spotskillmanager.get_env().reset_arm() | ||
| spotskillmanager.gaze_controller.reset_env_and_policy("ball") | ||
| pick_stats = spotskillmanager.pick("ball") | ||
| # print(pick_stats) | ||
| spotskillmanager.get_env().reset_arm() | ||
| spotskillmanager.gaze_controller.reset_env_and_policy("ball") | ||
| is_in_position = False | ||
| # Navigate to Test Receotacle | ||
| spotskillmanager.nav("pick_table_05_45") | ||
| is_in_position = True | ||
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| run_the_loop = map_user_input_to_boolean( | ||
| "Do you want to continue to next test or dock & exit ?" | ||
| ) | ||
| if not run_the_loop: | ||
| spotskillmanager.dock() |
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Let's move all experimental files in experiments/object_perception_manipulation folder inside spot_rl_experiments/spot_rl/
Also add a read-me there.
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…ing mask-rcnn when the misclassification occurs, also adding the gaze test file in tests folder