polish

spot_rl_experiments/experiments/skill_test/test_sem_place.py

@@ -52,27 +52,13 @@
         #Open Gripper
         spotskillmanager.spot.open_gripper()
         input("Place an object in Spot's gripper and press Enter to continue...")
-        #Place Object and Close Gripper
+
+        # Place Object and Close Gripper
         rospy.set_param("is_gripper_blocked", 0)
         episode_log = {"actions": []}  # type: ignore
         spotskillmanager.spot.close_gripper()
         input("waiting for user to get ready with camera")
-        # The following is a helpful tip to debug the arm
-        # We get Spot class
-        # spot = spotskillmanager.spot
-        # We can move the gripper to a point with x,y,z and roll, pitch, yaw
-        # spot.move_gripper_to_point((0.55, 0., 0.26), np.deg2rad(np.array([0,0,0])))
-        # We can also set the robot arm joints
-        # config = construct_config()
-        # spot.set_arm_joint_positions(np.deg2rad(config.INITIAL_ARM_JOINT_ANGLES))
 
-        # In addition, if you want to use semantic place skill based on the grasping orientation, you can do
-        # spotskillmanager.nav("black_case")
-        # spotskillmanager.pick("bottle")
-        # # Fetch the arm joint at grasping location
-        # ee_orientation_at_grasping = spotskillmanager.gaze_controller.env.ee_orientation_at_grasping
-        # spotskillmanager.nav("test_desk")
-        # spotskillmanager.place("test_desk", orientation_at_grasping) # This controls the arm initial orientation
         spotskillmanager.place(place_target, is_local=is_local, visualize=False)
         skill_log = spotskillmanager.place_controller.skill_result_log
         if "num_steps" not in skill_log:

spot_rl_experiments/experiments/skill_test/test_sem_place_ee.py

@@ -1,7 +1,6 @@
 # Copyright (c) Meta Platforms, Inc. and its affiliates.
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
-# mypy: ignore-errors
 import json
 from datetime import datetime
 
@@ -30,7 +29,7 @@
         spotskillmanager.spot.open_gripper()
         input("Place an object in Spot's gripper and press Enter to continue...")
         rospy.set_param("is_gripper_blocked", 0)
-        episode_log = {"actions": []}
+        episode_log = {"actions": []}  # type: ignore
         spotskillmanager.spot.close_gripper()
         input("waiting for user to get ready with camera")