From 9b151ecd5bd1800fd03dfe5e3da70a439243b97c Mon Sep 17 00:00:00 2001 From: Kavit Shah Date: Wed, 23 Aug 2023 16:05:52 -0700 Subject: [PATCH] Cleanup --- spot_rl_experiments/spot_rl/envs/place_env.py | 3 +-- spot_rl_experiments/spot_rl/utils/waypoint_recorder.py | 2 ++ 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/spot_rl_experiments/spot_rl/envs/place_env.py b/spot_rl_experiments/spot_rl/envs/place_env.py index 3315d26e..da455b67 100644 --- a/spot_rl_experiments/spot_rl/envs/place_env.py +++ b/spot_rl_experiments/spot_rl/envs/place_env.py @@ -83,7 +83,7 @@ class PlaceController: spot = Spot("PlaceController") place_target_list = [target1, target2, ...] place_controller = PlaceController(config, spot, use_policies=True) - place_result = place_controller.execute(place_target_list) + place_result = place_controller.execute(place_target_list, is_local=False) place_controller.shutdown() """ @@ -158,7 +158,6 @@ def execute(self, place_target_list, is_local=False): success_list.append( { - # "place_object": "place_target", "time_taken": time.time() - start_time, "success": self.place_env.place_attempted or not self.use_policies, "place_target": self.place_env.get_corrected_place_target_in_base_frame(), diff --git a/spot_rl_experiments/spot_rl/utils/waypoint_recorder.py b/spot_rl_experiments/spot_rl/utils/waypoint_recorder.py index 3ac6883d..d4783eb5 100644 --- a/spot_rl_experiments/spot_rl/utils/waypoint_recorder.py +++ b/spot_rl_experiments/spot_rl/utils/waypoint_recorder.py @@ -111,6 +111,7 @@ def construct_yaml_dict(self): return init_yaml_dict + @staticmethod def read_yaml(self, waypoint_file: str): """ Read a yaml file and returns a dict @@ -139,6 +140,7 @@ def read_yaml(self, waypoint_file: str): return yaml_dict + @staticmethod def write_yaml(self, waypoint_file: str, yaml_dict): """ Write the yaml_dict into the yaml_file.