success! it works!

bdaiinstitute · Jul 26, 2023 · 7db4069 · 7db4069
1 parent f9bba6a
commit 7db4069
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Showing 3 changed files with 344 additions and 379 deletions.
diff --git a/predicators/envs/spot_env.py b/predicators/envs/spot_env.py
@@ -313,20 +313,20 @@ def _build_observation(self,
         may vary per environment.
         """
         # Get the camera images.
-        rgb_img_dict, rgb_img_response_dict, _, depth_img_response_dict = self._spot_interface.get_camera_images(
+        rgb_img_dict, rgb_img_response_dict, depth_img_dict, depth_img_response_dict = self._spot_interface.get_camera_images(
         )
 
         # Detect objects using AprilTags (which we need for surfaces anyways).
         object_names_in_view_by_camera = {}
         object_names_in_view_by_camera_apriltag = \
             self._spot_interface.get_objects_in_view_by_camera\
-                (from_apriltag=True, rgb_image_dict=rgb_img_dict, rgb_image_response_dict=rgb_img_response_dict, depth_image_response_dict=depth_img_response_dict)
+                (from_apriltag=True, rgb_image_dict=rgb_img_dict, rgb_image_response_dict=rgb_img_response_dict, depth_image_dict=depth_img_dict, depth_image_response_dict=depth_img_response_dict)
         object_names_in_view_by_camera.update(
             object_names_in_view_by_camera_apriltag)
         # Additionally, if we're using SAM, then update using that.
         if CFG.spot_grasp_use_sam:
             object_names_in_view_by_camera_sam = self._spot_interface.\
-                get_objects_in_view_by_camera(from_apriltag=False, rgb_image_dict=rgb_img_dict, rgb_image_response_dict=rgb_img_response_dict, depth_image_response_dict=depth_img_response_dict)
+                get_objects_in_view_by_camera(from_apriltag=False, rgb_image_dict=rgb_img_dict, rgb_image_response_dict=rgb_img_response_dict, depth_image_dict=depth_img_dict, depth_image_response_dict=depth_img_response_dict)
             # Combine these together to get all objects in view.
             for k, v in object_names_in_view_by_camera.items():
                 v.update(object_names_in_view_by_camera_sam[k])