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Port polish items from old HITL study branch #1671

Merged
merged 6 commits into from
Nov 9, 2023
Merged

Port polish items from old HITL study branch #1671

merged 6 commits into from
Nov 9, 2023

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rpartsey
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@rpartsey rpartsey commented Nov 4, 2023 •
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Motivation and Context

Port polish items from old HITL study branch. See this Asana task (and comments) for more context.

How Has This Been Tested

Running sandbox app locally on MacBook Pro 2021.

Assets and habitat-sim setup the same as in this SIRo Sandbox snapshot.

Launch command (--show-tutorial flag added):

"program": "examples/siro_sandbox/sandbox_app.py",
"args": [
    "--app-state", "socialnav_study",
    "--display-font-size", "14",
    "--disable-inverse-kinematics",
    "--never-end",
    "--first-person-mode",
    "--hide-humanoid-in-gui",
    "--width", "1300",
    "--height", "1000",
    "--gui-controlled-agent-index", "1",
    "--ang-speed", "300",
    "--save-episode-record",
    "--save-filepath-base", "my_session",
    "--show-tutorial",
    "--cfg", "examples/siro_sandbox/configs/socialnav_study.yaml",
    "--cfg-opts",
    "~habitat.task.measurements.agent_blame_measure",
    "habitat.dataset.data_path=data/datasets/floorplanner/rearrange/scratch/test/largetest_10s_500epi_2obj.json.gz",
    "habitat.simulator.agents.agent_1.articulated_agent_urdf='data/humanoids/humanoid_data/female_3/female_3.urdf'"
],

Note, this is not tested with rearrange app state, since it is not working on demo branch.

Types of changes

  • Development PR into eundersander/SIRo_hitl_Sep5_demo_refactored (demo branch).
  • My code follows the code style of this project.
  • I have updated the documentation if required.
  • I have read the CONTRIBUTING document.
  • I have completed my CLA (see CONTRIBUTING)
  • I have added tests to cover my changes if required.

@facebook-github-bot facebook-github-bot added the CLA Signed Do not delete this pull request or issue due to inactivity. label Nov 4, 2023
@rpartsey rpartsey force-pushed the rpartsey/SIRo_hitl_Sep5_demo_refactored/study_enhancements branch from a49fecf to f011755 Compare November 4, 2023 17:21
eundersander
eundersander reviewed Nov 6, 2023
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Good progress! Let's see if we can simplify tutorial command line args, see comment below. Also, is there a plan to address #1 and #3 from the Asana item, perhaps a separate PR?

examples/siro_sandbox/sandbox_app.py Outdated
@@ -710,6 +718,12 @@ def _parse_debug_third_person(args, framebuffer_size):
default=False,
help="Shows an intro sequence that helps familiarize the user to the scene and task in a HITL context.",
)
parser.add_argument(
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I asked @rutadesai on Slack about if we can just make this the only option for the tutorial (and thus we don't need to complicate the code with multiple tutorial-related command-line args).

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Done

habitat-lab/habitat/tasks/rearrange/actions/actions.py
if end_pos[1] != rigid_state.translation[1]:

# try_step may fail, in which case it simply returns the start argument
did_try_step_fail = end_pos == rigid_state.translation
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I guess this is fine. But going forward, let's keep our PRs into the HITL codebase separate from our PRs into Habitat-lab/baselines.

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rpartsey commented Nov 7, 2023

Good progress! Let's see if we can simplify tutorial command line args, see comment below. Also, is there a plan to address #1 and #3 from the Asana item, perhaps a separate PR?

@eundersander these items are already addressed. See my Asana task comment.

@rpartsey rpartsey force-pushed the rpartsey/SIRo_hitl_Sep5_demo_refactored/study_enhancements branch from f011755 to a901471 Compare November 7, 2023 13:44
@rpartsey rpartsey force-pushed the rpartsey/SIRo_hitl_Sep5_demo_refactored/study_enhancements branch from 1fa1526 to b893fc9 Compare November 9, 2023 09:04
eundersander
eundersander approved these changes Nov 9, 2023
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LGTM!

@rpartsey rpartsey merged commit 511df01 into eundersander/SIRo_hitl_Sep5_demo_refactored Nov 9, 2023
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@rpartsey rpartsey deleted the rpartsey/SIRo_hitl_Sep5_demo_refactored/study_enhancements branch November 9, 2023 17:01
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@rpartsey @eundersander @facebook-github-bot