Move primitives config file

StanfordVL · Sep 29, 2023 · 22156ff · 22156ff
1 parent 761b11a
commit 22156ff
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Showing 2 changed files with 4 additions and 14 deletions.
diff --git a/omnigibson/configs/homeboy.yaml → omnigibson/configs/tiago_primitives.yaml b/omnigibson/configs/homeboy.yaml → omnigibson/configs/tiago_primitives.yaml
@@ -7,7 +7,7 @@ render:
 
 scene:
   type: InteractiveTraversableScene
-  scene_model: grocery_store_cafe
+  scene_model: Rs_int
   trav_map_resolution: 0.1
   trav_map_erosion: 2
   trav_map_with_objects: true
@@ -18,7 +18,7 @@ scene:
   not_load_object_categories: null
   load_room_types: null
   load_room_instances: null
-  load_task_relevant_only: true
+  load_task_relevant_only: false
   seg_map_resolution: 0.1
   scene_source: OG
   include_robots: false
@@ -74,17 +74,7 @@ robots:
 objects: []
 
 task:
-  type: BehaviorTask
-  activity_name: buy_a_good_avocado
-  activity_definition_id: 0
-  activity_instance_id: 0
-  online_object_sampling: false
-  debug_object_sampling: null
-  highlight_task_relevant_objects: false
-  termination_config:
-    max_steps: 50000
-  reward_config:
-    r_potential: 1.0
+  type: DummyTask
 
 scene_graph:
   egocentric: true

diff --git a/omnigibson/examples/action_primitives/solve_task.py b/omnigibson/examples/action_primitives/solve_task.py
@@ -27,7 +27,7 @@ def execute_controller(ctrl_gen, env):
 
 def main(keyboard_control=False):
     # Load the config
-    config_filename = os.path.join(og.example_config_path, "homeboy.yaml")
+    config_filename = os.path.join(og.example_config_path, "tiago_primitives.yaml")
     config = yaml.load(open(config_filename, "r"), Loader=yaml.FullLoader)
     if keyboard_control:
         config["robots"][0]["action_normalize"] = True