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Automatic episode generation #909

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Automatic episode generation #909

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19 changes: 9 additions & 10 deletions ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/logProcessor/leRobot/LeRobotDataset.java
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Original file line number Diff line number Diff line change
Expand Up @@ -137,13 +137,10 @@ public void calculateEpisode(String taskName, SCS2LogSessionWithVideo session, C
writeTaskJsonlLine(taskName);
}

String highLevelController = "root.main.DRCControllerThread." + "DRCMomentumBasedController.HumanoidHighLevelControllerManager.";
String wbcc = highLevelController + "HighLevelHumanoidControllerFactory.WholeBodyControllerCoreFactory.WholeBodyControllerCore.";
String feedbackController = wbcc + "WholeBodyFeedbackController.FeedbackControllerToolbox.";
String booleanVarName = String.format("%sPELVIS_LINKisPointFBControllerEnabled", feedbackController);
String timestampVarName = "root.LogDataReader.robotTime";

YoBoolean recordingFlag = (YoBoolean) session.getRootRegistry().findVariable(booleanVarName);
// Actual boolean that we want
// YoBoolean recordingFlag = (YoBoolean) session.getRootRegistry().findVariable(booleanVarName);
YoDouble timestamp = (YoDouble) session.getRootRegistry().findVariable(timestampVarName);

LogDataReader reader = session.getLogDataReader();
Expand All @@ -156,7 +153,7 @@ public void calculateEpisode(String taskName, SCS2LogSessionWithVideo session, C
{
session.runTick();

boolean flagValue = (int) timestamp.getValue()%1000 == 0;
boolean flagValue = (int) timestamp.getValue()%1000 <= 300;

if (flagValue && !currentlyRecording)
{
Expand All @@ -166,8 +163,9 @@ public void calculateEpisode(String taskName, SCS2LogSessionWithVideo session, C
else if (!flagValue && currentlyRecording)
{
int episodeEnd = (int) frame;
int episodeLength = episodeEnd - episodeStart;
System.out.println(episodeLength);
session.submitBufferInPointIndexRequestAndWait(episodeStart);
session.submitBufferOutPointIndexRequestAndWait(episodeEnd);
addEpisode(taskName, session, frameProcessingQueue);
currentlyRecording = false;
episodeStart = -1;
}
Expand All @@ -176,8 +174,9 @@ else if (!flagValue && currentlyRecording)
if (currentlyRecording)
{
int episodeEnd = (int) totalFrames;
int episodeLength = episodeEnd - episodeStart;
System.out.println(episodeLength);
session.submitBufferInPointIndexRequestAndWait(episodeStart);
session.submitBufferOutPointIndexRequestAndWait(episodeEnd);
addEpisode(taskName, session, frameProcessingQueue);
}
}

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