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[Fix] fix camera setting #70

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Merged
kew6688 merged 1 commit into from
Sep 22, 2025
Merged

[Fix] fix camera setting #70

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2 changes: 2 additions & 0 deletions challenge/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -180,6 +180,8 @@ For fair comparison in this IROS challenge, the USD file, controller, and observ
- **Observation space**: Ego-centric monocular RGB-D input.
- **Technical**: All publicly available datasets and pretrained weights are allowed. The use of large-scale model APIs (e.g., GPT, Claude, Gemini, etc.) is **not** permitted. **Note**: the test server for this challenge has no internet access.

**Note**: Please use our provided camera usd `camera_prim_path='torso_link/h1_pano_camera_0'` as the RGB-D camera, the resolution can be `[640, 480]` or `[256, 256]`.

### Development Overview
The main architecture of the evaluation code adopts a client-server model. In the client, we specify the corresponding configuration (*.cfg), which includes settings such as the scenarios to be evaluated, robots, models, and parallelization parameters. The client sends requests to the server, which then make model to predict and response to the client.

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15 changes: 14 additions & 1 deletion scripts/eval/eval_iros.py
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Expand Up @@ -22,7 +22,7 @@ def parse_args():
parser.add_argument(
"--default_config",
type=str,
default='scripts/eval/configs/h1_cma_cfg.py',
default='scripts/eval/configs/challenge_mp3d_cfg.py',
help='eval config file path, e.g. scripts/eval/configs/h1_cma_cfg.py',
)
parser.add_argument(
Expand All @@ -45,10 +45,23 @@ def load_eval_cfg(config_path, attr_name='eval_cfg'):


def replace_cfg(evaluator_cfg, default_cfg, split):
# agent and model settings
default_cfg.agent = evaluator_cfg.agent

# split setting
if split:
default_cfg.dataset.dataset_settings['split_data_types'] = [split]

# camera settings
if (
evaluator_cfg.task.camera_resolution not in [[256, 256], [640, 480]]
or evaluator_cfg.task.camera_prim_path != default_cfg.task.camera_prim_path
):
raise ValueError(
"Please use our provided camera usd `camera_prim_path='torso_link/h1_pano_camera_0'` as the RGB-D camera, the resolution can be `[640, 480]` or `[256, 256]`."
)
default_cfg.task.camera_resolution = evaluator_cfg.task.camera_resolution


def main():
args = parse_args()
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