added is_running_rrt

Learning-and-Intelligent-Systems · Nov 2, 2023 · 99a9ba9 · 99a9ba9
1 parent 8ae90d2
commit 99a9ba9
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Showing 3 changed files with 12 additions and 10 deletions.
diff --git a/predicators/behavior_utils/option_model_fns.py b/predicators/behavior_utils/option_model_fns.py
@@ -119,7 +119,7 @@ def graspObjectOptionModel(_state: State, env: "BehaviorEnv") -> None:
         rh_orig_grasp_orn = env.robots[0].parts["right_hand"].get_orientation()
 
         # Simulate Arm Movement
-        if CFG.behavior_option_model_rrt:
+        if CFG.is_running_rrt:
             for step in plan:
                 env.robots[0].parts["right_hand"].set_position_orientation(
                     step[0:3], p.getQuaternionFromEuler(step[3:6]))
@@ -159,7 +159,7 @@ def graspObjectOptionModel(_state: State, env: "BehaviorEnv") -> None:
             env.step(a)
 
         # Simulate Arm Movement (Backwards)
-        if CFG.behavior_option_model_rrt:
+        if CFG.is_running_rrt:
             for step in reversed(plan):
                 env.robots[0].parts["right_hand"].set_position_orientation(
                     step[0:3], p.getQuaternionFromEuler(step[3:6]))
@@ -218,7 +218,7 @@ def placeOntopObjectOptionModel(_init_state: State,
                          f"params {target_pos}")
 
         # Simulate Arm Movement
-        if CFG.behavior_option_model_rrt:
+        if CFG.is_running_rrt:
             for step in plan:
                 env.robots[0].parts["right_hand"].set_position_orientation(
                     step[0:3], p.getQuaternionFromEuler(step[3:6]))
@@ -242,7 +242,7 @@ def placeOntopObjectOptionModel(_init_state: State,
         )
 
         # Simulate Arm Movement (Backwards)
-        if CFG.behavior_option_model_rrt:
+        if CFG.is_running_rrt:
             for step in reversed(plan):
                 env.robots[0].parts["right_hand"].set_position_orientation(
                     step[0:3], p.getQuaternionFromEuler(step[3:6]))
@@ -418,7 +418,7 @@ def placeInsideObjectOptionModel(_init_state: State,
                             f"params {target_pos}")
 
                     # Simulate Arm Movement
-                    if CFG.behavior_option_model_rrt:
+                    if CFG.is_running_rrt:
                         for step in plan:
                             env.robots[0].parts[
                                 "right_hand"].set_position_orientation(
@@ -442,7 +442,7 @@ def placeInsideObjectOptionModel(_init_state: State,
                         angularVelocity=[0, 0, 0],
                     )
                     # Simulate Arm Movement (Backwards)
-                    if CFG.behavior_option_model_rrt:
+                    if CFG.is_running_rrt:
                         for step in reversed(plan):
                             env.robots[0].parts[
                                 "right_hand"].set_position_orientation(
@@ -532,7 +532,7 @@ def placeUnderObjectOptionModel(_init_state: State,
                             f"params {target_pos}")
 
                     # Simulate Arm Movement
-                    if CFG.behavior_option_model_rrt:
+                    if CFG.is_running_rrt:
                         for step in plan:
                             env.robots[0].parts[
                                 "right_hand"].set_position_orientation(
@@ -557,7 +557,7 @@ def placeUnderObjectOptionModel(_init_state: State,
                     )
 
                     # Simulate Arm Movement (Backwards)
-                    if CFG.behavior_option_model_rrt:
+                    if CFG.is_running_rrt:
                         for step in reversed(plan):
                             env.robots[0].parts[
                                 "right_hand"].set_position_orientation(
@@ -677,7 +677,7 @@ def placeNextToObjectOptionModel(_init_state: State,
                             f"params {target_pos}")
 
                     # Simulate Arm Movement
-                    if CFG.behavior_option_model_rrt:
+                    if CFG.is_running_rrt:
                         for step in plan:
                             env.robots[0].parts[
                                 "right_hand"].set_position_orientation(
@@ -702,7 +702,7 @@ def placeNextToObjectOptionModel(_init_state: State,
                     )
 
                     # Simulate Arm Movement (Backwards)
-                    if CFG.behavior_option_model_rrt:
+                    if CFG.is_running_rrt:
                         for step in reversed(plan):
                             env.robots[0].parts[
                                 "right_hand"].set_position_orientation(

diff --git a/predicators/main.py b/predicators/main.py
@@ -344,6 +344,7 @@ def _run_testing(env: BaseEnv, approach: BaseApproach) -> Metrics:
                 option_model_start_time = time.time()
                 if CFG.env == "behavior" and \
                     CFG.behavior_mode == 'iggui':  # pragma: no cover
+                    CFG.is_running_rrt = True
                     env = get_or_create_env('behavior')
                     assert isinstance(env, BehaviorEnv)
                     win = curses.initscr()

diff --git a/predicators/settings.py b/predicators/settings.py
@@ -133,6 +133,7 @@ class GlobalSettings:
     behavior_closeness_limit = 1.00
     # if this is True, then we will not use discovered failures in behavior.
     behavior_ignore_discover_failures = True
+    is_running_rrt = False
     create_training_dataset = False
     simulate_nav = False