incorporate kiana changs to viz

Author: rosehendrix

manipulathor_baselines/procthor_baselines/experiments/ithor/obj_nav_2camera_ithor_wide.py

@@ -85,6 +85,24 @@ class ithorObjectNavClipResnet50RGBOnly2CameraWideFOV(
     MAX_STEPS = 500
     if platform.system() == "Darwin":
         MAX_STEPS = 100
+        SENSORS += [
+            RGBSensorStretchKinectBigFov(
+                height=224,
+                width=224,
+                use_resnet_normalization=True,
+                mean=mean,
+                stdev=stdev,
+                uuid="rgb_lowres_arm_only_viz",
+            ),
+            RGBSensorThor(
+                height=224,
+                width=224,
+                use_resnet_normalization=True,
+                mean=mean,
+                stdev=stdev,
+                uuid="rgb_lowres_only_viz",
+            ),
+        ]
 
     TASK_SAMPLER = AllRoomsObjectNavTaskSampler
     TASK_TYPE = StretchObjectNavTask

manipulathor_baselines/procthor_baselines/experiments/ithor/obj_nav_2camera_procthor_narrow.py

@@ -70,6 +70,25 @@ class ProcTHORObjectNavClipResnet50RGBOnly2CameraNarrowFOV(
     MAX_STEPS = 500
     if platform.system() == "Darwin":
         MAX_STEPS = 100
+        SENSORS += [
+            RGBSensorStretchKinect(
+                height=224,
+                width=224,
+                use_resnet_normalization=True,
+                mean=mean,
+                stdev=stdev,
+                uuid="rgb_lowres_arm_only_viz",
+            ),
+            RGBSensorStretchIntel(
+                height=224,
+                width=224,
+                use_resnet_normalization=True,
+                mean=mean,
+                stdev=stdev,
+                uuid="rgb_lowres_only_viz",
+            ),
+        ]
+
 
     TASK_SAMPLER = ProcTHORObjectNavTaskSampler
     TASK_TYPE = StretchObjectNavTask

manipulathor_baselines/procthor_baselines/experiments/ithor/obj_nav_2camera_procthor_wide.py

@@ -73,8 +73,12 @@ class ProcTHORObjectNavClipResnet50RGBOnly2CameraWideFOV(
     ]
 
     MAX_STEPS = 500
+    NUM_PROCESSES = 40
+    # NUM_TRAIN_HOUSES = 50 #TODO: house > num_proc oversampling not implemented yet
+
     if platform.system() == "Darwin":
-        MAX_STEPS = 10
+        MAX_STEPS = 100
+        NUM_TRAIN_HOUSES = 100
         SENSORS += [
             RGBSensorStretchKinectBigFov(
                 height=224,
@@ -101,8 +105,6 @@ class ProcTHORObjectNavClipResnet50RGBOnly2CameraWideFOV(
 
     NUM_PROCESSES = 50
 
-    NUM_PROCESSES = 40
-    # NUM_TRAIN_HOUSES = 50 #TODO: house > num_proc oversampling not implemented yet
 
 
     def __init__(self):

manipulathor_baselines/procthor_baselines/experiments/ithor/obj_nav_2camera_robothor_narrow.py

@@ -79,6 +79,24 @@ class RobothorObjectNavClipResnet50RGBOnly2CameraNarrowFOV(
     MAX_STEPS = 500
     if platform.system() == "Darwin":
         MAX_STEPS = 500
+        SENSORS += [
+            RGBSensorStretchKinect(
+                height=224,
+                width=224,
+                use_resnet_normalization=True,
+                mean=mean,
+                stdev=stdev,
+                uuid="rgb_lowres_arm_only_viz",
+            ),
+            RGBSensorStretchIntel(
+                height=224,
+                width=224,
+                use_resnet_normalization=True,
+                mean=mean,
+                stdev=stdev,
+                uuid="rgb_lowres_only_viz",
+            ),
+        ]
 
     TASK_SAMPLER = AllRoomsObjectNavTaskSampler
     TASK_TYPE = StretchObjectNavTask

manipulathor_baselines/procthor_baselines/models/clip_objnav_ncamera_model.py

@@ -6,6 +6,8 @@
 import platform
 from datetime import datetime
 from typing import Tuple, Optional, List, Dict, cast
+import platform
+from datetime import datetime
 
 import gym
 import torch
@@ -21,7 +23,6 @@
 from manipulathor_utils.debugger_util import ForkedPdb
 from utils.hacky_viz_utils import hacky_visualization
 
-
 class ResnetTensorNavNCameraActorCritic(VisualNavActorCritic):
     def __init__(
         # base params
@@ -95,6 +96,11 @@ def forward(self, **kwargs): #TODO NOW remove
             hacky_visualization(kwargs['observations'], base_directory_to_right_images=self.starting_time)
         return super(ResnetTensorNavNCameraActorCritic, self).forward(**kwargs)
 
+    def forward(self, **kwargs): #TODO NOW remove
+        if platform.system() == "Darwin":
+            hacky_visualization(kwargs['observations'], base_directory_to_right_images=self.starting_time)
+        return super(ResnetTensorNavNCameraActorCritic, self).forward(**kwargs)
+
 
 class ResnetNCameraTensorGoalEncoder(nn.Module):
     def __init__(

manipulathor_baselines/procthor_baselines/models/clip_preprocessors.py

@@ -10,7 +10,7 @@
 from allenact.base_abstractions.preprocessor import Preprocessor
 from allenact.utils.misc_utils import prepare_locals_for_super
 from manipulathor_utils.debugger_util import ForkedPdb
-from utils.hacky_viz_utils import hacky_visualization
+# from utils.hacky_viz_utils import hacky_visualization
 from datetime import datetime