From 39f2c7a88acfdb5f90f7d6c49471f12f941a8737 Mon Sep 17 00:00:00 2001 From: Hannah DeFazio Date: Fri, 1 Dec 2023 16:35:04 -0500 Subject: [PATCH] Update tmux configs --- tmux/README.md | 2 ++ tmux/demos/cooking/cooking-angel-system_from-bag.yml | 12 ++++++------ .../cooking/cooking-angel-system_from-old-bag.yml | 12 ++++++------ tmux/demos/cooking/cooking-angel-system_live.yml | 12 ++++++------ tmux/demos/medical/Kitware-M2-Tourniquet.yml | 2 +- 5 files changed, 21 insertions(+), 19 deletions(-) create mode 100644 tmux/README.md diff --git a/tmux/README.md b/tmux/README.md new file mode 100644 index 000000000..415289f0a --- /dev/null +++ b/tmux/README.md @@ -0,0 +1,2 @@ +Tmux configuration files to run various parts of the system. +All config files here should be functional and reflect the most current version of the system. diff --git a/tmux/demos/cooking/cooking-angel-system_from-bag.yml b/tmux/demos/cooking/cooking-angel-system_from-bag.yml index 3b2d1492b..fc46721ae 100644 --- a/tmux/demos/cooking/cooking-angel-system_from-bag.yml +++ b/tmux/demos/cooking/cooking-angel-system_from-bag.yml @@ -76,12 +76,12 @@ windows: -r __ns:=${ROS_NAMESPACE} -p image_topic:=PVFramesBGR_HALF -p det_topic:=ObjectDetections2d - -p net_checkpoint:=${MODEL_DIR}/all_recipes+additional_objs+bkgd_yolov7.pt + -p net_checkpoint:=${MODEL_DIR}/object_detector/all_recipes+additional_objs+bkgd_yolov7.pt -p inference_img_size:=1280 -p det_conf_threshold:=0.25 -p cuda_device_id:=0 - - simple_2d_overlay: ros2 run angel_debug Simple2dDetectionOverlay --ros-args + - simple_2d_overlay: ros2 run angel_utils Simple2dDetectionOverlay --ros-args -r __ns:=${ROS_NAMESPACE} -p topic_input_images:=PVFramesBGR_HALF -p topic_input_det_2d:=ObjectDetections2d @@ -93,9 +93,9 @@ windows: -p image_ts_topic:=PVFramesBGR_TS -p det_topic:=ObjectDetections2d -p act_topic:=ActivityDetections - -p model_weights:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt - -p model_mapping:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt - -p model_det_label_mapping:=${MODEL_DIR}/activity_tcn-all_activities-det_label_mapping.json + -p model_weights:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt + -p model_mapping:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt + -p model_det_label_mapping:=${MODEL_DIR}/activity_classifier/activity_tcn-all_activities-det_label_mapping.json -p model_device:=cuda -p model_dets_conv_version:=5 -p window_size:=30 @@ -113,7 +113,7 @@ windows: - task_monitor: ros2 run angel_system_nodes global_step_predictor --ros-args -r __ns:=${ROS_NAMESPACE} -p det_topic:=ActivityDetections - -p model_file:=${MODEL_DIR}/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy + -p model_file:=${MODEL_DIR}/task_monitor/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy -p threshold_multiplier_weak:=0.05 -p thresh_frame_count:=$((8 / (30 / ${FRAME_RATE}))) -p threshold_frame_count_weak:=2 diff --git a/tmux/demos/cooking/cooking-angel-system_from-old-bag.yml b/tmux/demos/cooking/cooking-angel-system_from-old-bag.yml index 164ecb3fb..c027bdd29 100644 --- a/tmux/demos/cooking/cooking-angel-system_from-old-bag.yml +++ b/tmux/demos/cooking/cooking-angel-system_from-old-bag.yml @@ -76,12 +76,12 @@ windows: -r __ns:=${ROS_NAMESPACE} -p image_topic:=PVFramesRGB -p det_topic:=ObjectDetections2d - -p net_checkpoint:=${MODEL_DIR}/all_recipes+additional_objs+bkgd_yolov7.pt + -p net_checkpoint:=${MODEL_DIR}/object_detector/all_recipes+additional_objs+bkgd_yolov7.pt -p inference_img_size:=1280 -p det_conf_threshold:=0.25 -p cuda_device_id:=0 - - simple_2d_overlay: ros2 run angel_debug Simple2dDetectionOverlay --ros-args + - simple_2d_overlay: ros2 run angel_utils Simple2dDetectionOverlay --ros-args -r __ns:=${ROS_NAMESPACE} -p topic_input_images:=PVFramesRGB -p topic_input_det_2d:=ObjectDetections2d @@ -93,9 +93,9 @@ windows: -p image_ts_topic:=PVFramesRGB_TS -p det_topic:=ObjectDetections2d -p act_topic:=ActivityDetections - -p model_weights:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt - -p model_mapping:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt - -p model_det_label_mapping:=${MODEL_DIR}/activity_tcn-all_activities-det_label_mapping.json + -p model_weights:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt + -p model_mapping:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt + -p model_det_label_mapping:=${MODEL_DIR}/activity_classifier/activity_tcn-all_activities-det_label_mapping.json -p model_device:=cuda -p model_dets_conv_version:=5 -p window_size:=30 @@ -113,7 +113,7 @@ windows: - task_monitor: ros2 run angel_system_nodes global_step_predictor --ros-args -r __ns:=${ROS_NAMESPACE} -p det_topic:=ActivityDetections - -p model_file:=${MODEL_DIR}/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy + -p model_file:=${MODEL_DIR}/task_monitor/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy -p threshold_multiplier_weak:=0.05 -p thresh_frame_count:=$((8 / (30 / ${FRAME_RATE}))) -p threshold_frame_count_weak:=2 diff --git a/tmux/demos/cooking/cooking-angel-system_live.yml b/tmux/demos/cooking/cooking-angel-system_live.yml index 830d3d607..20e168cd2 100644 --- a/tmux/demos/cooking/cooking-angel-system_live.yml +++ b/tmux/demos/cooking/cooking-angel-system_live.yml @@ -87,12 +87,12 @@ windows: -r __ns:=${ROS_NAMESPACE} -p image_topic:=PVFramesBGR -p det_topic:=ObjectDetections2d - -p net_checkpoint:=${MODEL_DIR}/all_recipes+additional_objs+bkgd_yolov7.pt + -p net_checkpoint:=${MODEL_DIR}/object_detector/all_recipes+additional_objs+bkgd_yolov7.pt -p inference_img_size:=1280 -p det_conf_threshold:=0.25 -p cuda_device_id:=0 - - simple_2d_overlay: ros2 run angel_debug Simple2dDetectionOverlay --ros-args + - simple_2d_overlay: ros2 run angel_utils Simple2dDetectionOverlay --ros-args -r __ns:=${ROS_NAMESPACE} -p topic_input_images:=PVFramesBGR -p topic_input_det_2d:=ObjectDetections2d @@ -104,9 +104,9 @@ windows: -p image_ts_topic:=PVFramesBGR_TS -p det_topic:=ObjectDetections2d -p act_topic:=ActivityDetections - -p model_weights:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt - -p model_mapping:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt - -p model_det_label_mapping:=${MODEL_DIR}/activity_tcn-all_activities-det_label_mapping.json + -p model_weights:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt + -p model_mapping:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt + -p model_det_label_mapping:=${MODEL_DIR}/activity_classifier/activity_tcn-all_activities-det_label_mapping.json -p model_device:=cuda -p model_dets_conv_version:=5 -p window_size:=30 @@ -124,7 +124,7 @@ windows: - task_monitor: ros2 run angel_system_nodes global_step_predictor --ros-args -r __ns:=${ROS_NAMESPACE} -p det_topic:=ActivityDetections - -p model_file:=${MODEL_DIR}/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy + -p model_file:=${MODEL_DIR}/task_monitor/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy -p threshold_multiplier_weak:=0.05 -p thresh_frame_count:=$((8 / (30 / ${FRAME_RATE}))) -p threshold_frame_count_weak:=2 diff --git a/tmux/demos/medical/Kitware-M2-Tourniquet.yml b/tmux/demos/medical/Kitware-M2-Tourniquet.yml index a9bb28785..7947be9b6 100644 --- a/tmux/demos/medical/Kitware-M2-Tourniquet.yml +++ b/tmux/demos/medical/Kitware-M2-Tourniquet.yml @@ -79,7 +79,7 @@ windows: -p det_conf_threshold:=0.4 -p model_config:=${ANGEL_WORKSPACE_DIR}/angel_system/berkeley/configs/MC50-InstanceSegmentation/medical/M2/stage2/tourniquet_stage2_interstitial.yaml -p cuda_device_id:=0 - - simple_2d_overlay: ros2 run angel_debug Simple2dDetectionOverlay --ros-args + - simple_2d_overlay: ros2 run angel_utils Simple2dDetectionOverlay --ros-args -r __ns:=${ROS_NAMESPACE} -p topic_input_images:=PVFramesBGR -p topic_input_det_2d:=ObjectDetections2d