Bug fix for _ & spaces

facebookresearch · Jan 23, 2025 · c3c60b2 · c3c60b2
1 parent 6ed6ced
commit c3c60b2
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Showing 2 changed files with 12 additions and 9 deletions.
diff --git a/spot_rl_experiments/spot_rl/utils/cg_waypoint_recorder.py b/spot_rl_experiments/spot_rl/utils/cg_waypoint_recorder.py
@@ -219,7 +219,9 @@ def add_furniture(self, furniture_name: str):
         new_furniture_relation = {
             "object1": {
                 "id": new_entity_id,
-                "object_tag": furniture_name,
+                "object_tag": furniture_name.replace(
+                    "_", " "
+                ),  # we should not have '_'s inside object_tags
                 "bbox_extent": [0.5, 0.5, place_target[2] / 2.0],
                 "bbox_center": [
                     place_target[0],

diff --git a/spot_rl_experiments/spot_rl/utils/skill_executor.py b/spot_rl_experiments/spot_rl/utils/skill_executor.py
@@ -374,15 +374,16 @@ def execute_skills(self):  # noqa: C901
                 bbox_extent = np.array([float(v) for v in bbox_info[3:6]])
 
                 if ":" in bbox_info[6]:
-                    query_class_names = bbox_info[6].split(":")[1]
-                    query_class_names = query_class_names.split("_")
-                    if query_class_names[0].isdigit():
-                        query_class_names = ["_".join(query_class_names[1:])]
-                    else:
-                        query_class_names = ["_".join(query_class_names)]
+                    query_class_names = bbox_info[6].split(":")[1]  # For exploration
                 else:
-                    query_class_names = bbox_info[6:]
-                    query_class_names[0] = query_class_names[0].replace("_", " ")
+                    query_class_names = bbox_info[6]  # For nav with view poses
+
+                # Strip id from query_class_name
+                query_class_names = query_class_names.split("_")
+                if query_class_names[0].isdigit():
+                    query_class_names = [" ".join(query_class_names[1:])]
+                else:
+                    query_class_names = [" ".join(query_class_names)]
 
                 if robot_holding:
                     rospy.set_param("/viz_place", query_class_names[0])