put context path in the config

ut-amrl · Jun 1, 2024 · 9070e93 · 9070e93
1 parent 4aaa614
commit 9070e93
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Showing 3 changed files with 9 additions and 1 deletion.
diff --git a/config/navigation_jackal_icl.lua b/config/navigation_jackal_icl.lua
@@ -61,6 +61,7 @@ TerrainEvaluator = {
   rollout_density = 10;
 
   model_path = "../terrain_models/model.pt";
+  context_path="../terrain_models/context.pt";
 
   -- dist_to_goal_weight = -0.2;
   -- dist_to_goal_weight = -0.7;

diff --git a/config/navigation_spot_icl.lua b/config/navigation_spot_icl.lua
@@ -51,6 +51,10 @@ AckermannSampler = {
   clearance_path_clip_fraction = 0.8;
 };
 
+Context = {
+  context_path="terrain_models/context.pt";
+}
+
 TerrainEvaluator = {
   patch_size_pixels = 1;
   bev_pixels_per_meter = 150;

diff --git a/src/navigation/terrain_evaluator2.h b/src/navigation/terrain_evaluator2.h
@@ -1,13 +1,16 @@
 #include "terrain_evaluator.h"
 
 namespace motion_primitives {
+CONFIG_STRING(context_path, "Context.context_path");
+
+
 
 class CustomTerrainEvaluator : public TerrainEvaluator {
  public:
  torch::Tensor context_tensor_;
   CustomTerrainEvaluator() : TerrainEvaluator() {
     // todo: store the context as private variable
-    torch::jit::script::Module tensors = torch::jit::load("../terrain_models/context.pt");
+    torch::jit::script::Module tensors = torch::jit::load(CONFIG_context_path);
     context_tensor_ = tensors.run_method("return_tensor").toTensor();
   }