Add own stuff working

leggedrobotics · Aug 16, 2023 · a909a75 · a909a75
1 parent 989e56a
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diff --git a/wild_visual_navigation/utils/dataset_info.py b/wild_visual_navigation/utils/dataset_info.py
@@ -6,116 +6,169 @@
 """
 
 # ROOT_DIR = "/media/Data/Datasets/2022_Perugia"
-ROOT_DIR = "/media/matias/datasets/2022_Perugia"
+# ROOT_DIR = "/home/rschmid/RosBags/South_Africa2"
+# perugia_dataset = [
+#     {
+#         "name": "sa_walk",
+#         "env": "hilly",
+#         "mode": "test",
+#         "nr": 0,
+#         "start": 200,
+#         "stop": 2000,
+#         "comment": "",
+#     },
+# ROOT_DIR = "/home/rschmid/RosBags/Perugia"
+# perugia_dataset = [
+#     {
+#         "name": "perugia",
+#         "env": "hilly",
+#         "mode": "test",
+#         "nr": 0,
+#         "start": 40,  # Start and stop time is in seconds
+#         "stop": 2000,
+#         "comment": "",
+#     },
+# ROOT_DIR = "/home/rschmid/RosBags/perugia"
+# perugia_dataset = [
+#     {
+#         "name": "perugia",
+#         "env": "hilly",
+#         "mode": "test",
+#         "nr": 0,
+#         "start": 0,  # Start and stop time is in seconds
+#         "stop": 500,
+#         "comment": "",
+#     },
+ROOT_DIR = "/home/rschmid/RosBags/6"
 perugia_dataset = [
     {
-        "name": "day3/mission_data/2022-05-12T09:45:07_mission_0_day_3",
+        "name": "6",
         "env": "hilly",
         "mode": "test",
         "nr": 0,
-        "start": 80,
-        "stop": 390,
-        "comment": "emergency button by accident",
-    },
-    {
-        "name": "day3/mission_data/2022-05-12T09:57:13_mission_0_day_3",
-        "env": "hilly",
-        "mode": "test",
-        "nr": 1,
-        "start": 50,
-        "stop": 430,
-        "comment": "fall",
-    },
-    {
-        "name": "day3/mission_data/2022-05-12T10:18:16_mission_0_day_3",
-        "env": "hilly",
-        "mode": "train",
-        "nr": 0,
-        "start": 44,
-        "stop": 680,
-        "comment": "",
-    },
-    {
-        "name": "day3/mission_data/2022-05-12T10:34:03_mission_0_day_3",
-        "env": "hilly",
-        "mode": "test",
-        "nr": 2,
-        "start": 42,
-        "stop": 450,
-        "comment": "",
-    },
-    {
-        "name": "day3/mission_data/2022-05-12T10:45:20_mission_0_day_3",
-        "env": "hilly",
-        "mode": "test",
-        "nr": 3,
-        "start": 26,
-        "stop": 269,
-        "comment": "",
-    },
-    {
-        "name": "day3/mission_data/2022-05-12T11:44:56_mission_0_day_3",
-        "env": "forest",
-        "mode": "test",
-        "nr": 0,
-        "start": 42,
-        "stop": 590,
-        "comment": "",
-    },
-    {
-        "name": "day3/mission_data/2022-05-12T11:56:13_mission_0_day_3",
-        "env": "forest",
-        "mode": "train",
-        "nr": 0,
-        "start": 45,
-        "stop": 585,
-        "comment": "559 stuck with tree (traversability)",
-    },
-    {
-        "name": "day3/mission_data/2022-05-12T12:08:09_mission_0_day_3",
-        "env": "forest",
-        "mode": "test",
-        "nr": 1,
-        "start": 55,
-        "stop": 530,
-        "comment": "",
-    },
-    {
-        "name": "day3/mission_data/2022-05-12T15:36:30_mission_0_day_3",
-        "env": "grassland",
-        "mode": "test",
-        "nr": 0,
-        "start": 0,
-        "stop": 696,
-        "comment": "walk in the end in high flowers, and close to small trees ",
-    },
-    {
-        "name": "day3/mission_data/2022-05-12T15:52:37_mission_0_day_3",
-        "env": "grassland",
-        "mode": "test",
-        "nr": 1,
-        "start": 0,
-        "stop": 1000,
-        "comment": "walking on grass and gravel road; anomoly walking close to river ",
-    },
-    {
-        "name": "day3/mission_data/2022-05-12T17:36:33_mission_0_day_3",
-        "env": "grassland",
-        "mode": "train",
-        "nr": 0,
-        "start": 55,
-        "stop": 1160,
-        "comment": "features some brown rough soil; robot falls down",
-    },
-    {
-        "name": "day3/mission_data/2022-05-12T18:21:23_mission_0_day_3",
-        "env": "grassland",
-        "mode": "test",
-        "nr": 2,
-        "start": 80,
-        "stop": 750,
+        "start": 0,  # Start and stop time is in seconds
+        "stop": 500,
         "comment": "",
     },
+# ROOT_DIR = "/home/rschmid/RosBags/hoengg_bags"
+# perugia_dataset = [
+#     {
+#         "name": "hoengg",
+#         "env": "hilly",
+#         "mode": "test",
+#         "nr": 0,
+#         "start": 1000,  # Start and stop time is in seconds, +120
+#         "stop": 2000,
+#         "comment": "",
+#     },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T09:45:07_mission_0_day_3",
+    #     "env": "hilly",
+    #     "mode": "test",
+    #     "nr": 0,
+    #     "start": 80,
+    #     "stop": 390,
+    #     "comment": "emergency button by accident",
+    # },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T09:57:13_mission_0_day_3",
+    #     "env": "hilly",
+    #     "mode": "test",
+    #     "nr": 1,
+    #     "start": 50,
+    #     "stop": 430,
+    #     "comment": "fall",
+    # },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T10:18:16_mission_0_day_3",
+    #     "env": "hilly",
+    #     "mode": "train",
+    #     "nr": 0,
+    #     "start": 44,
+    #     "stop": 680,
+    #     "comment": "",
+    # },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T10:34:03_mission_0_day_3",
+    #     "env": "hilly",
+    #     "mode": "test",
+    #     "nr": 2,
+    #     "start": 42,
+    #     "stop": 450,
+    #     "comment": "",
+    # },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T10:45:20_mission_0_day_3",
+    #     "env": "hilly",
+    #     "mode": "test",
+    #     "nr": 3,
+    #     "start": 26,
+    #     "stop": 269,
+    #     "comment": "",
+    # },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T11_44_56_mission_0_day_3",
+    #     "env": "forest",
+    #     "mode": "test",
+    #     "nr": 0,
+    #     "start": 42,
+    #     "stop": 590,
+    #     "comment": "",
+    # },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T11_56_13_mission_0_day_3",
+    #     "env": "forest",
+    #     "mode": "train",
+    #     "nr": 0,
+    #     "start": 45,
+    #     "stop": 585,
+    #     "comment": "559 stuck with tree (traversability)",
+    # },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T12_08_09_mission_0_day_3",
+    #     "env": "forest",
+    #     "mode": "test",
+    #     "nr": 1,
+    #     "start": 55,
+    #     "stop": 530,
+    #     "comment": "",
+    # },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T15:36:30_mission_0_day_3",
+    #     "env": "grassland",
+    #     "mode": "test",
+    #     "nr": 0,
+    #     "start": 0,
+    #     "stop": 696,
+    #     "comment": "walk in the end in high flowers, and close to small trees ",
+    # },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T15:52:37_mission_0_day_3",
+    #     "env": "grassland",
+    #     "mode": "test",
+    #     "nr": 1,
+    #     "start": 0,
+    #     "stop": 1000,
+    #     "comment": "walking on grass and gravel road; anomoly walking close to river ",
+    # },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T17:36:33_mission_0_day_3",
+    #     "env": "grassland",
+    #     "mode": "train",
+    #     "nr": 0,
+    #     "start": 55,
+    #     "stop": 1160,
+    #     "comment": "features some brown rough soil; robot falls down",
+    # },
+    # {
+    #     "name": "day3/mission_data/2022-05-12T18:21:23_mission_0_day_3",
+    #     "env": "grassland",
+    #     "mode": "test",
+    #     "nr": 2,
+    #     "start": 80,
+    #     "stop": 750,
+    #     "comment": "",
+    # },
 ]
 
 

diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
@@ -58,6 +58,6 @@ log_confidence: false
 verbose: false
 debug_supervision_node_index_from_last: 10
 
-extraction_store_folder:  "nan"
+extraction_store_folder:  /home/rschmid/RosBags/output/6
 exp: "nan"
 use_binary_only: true