Enhances sim_with_dds.py with HDF5 reset support and add a trajectory metrics evaluation pipeline. #137
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
KumoLiu
requested review from
Nic-Ma,
NigelNelson,
Copilot,
guopengf,
heyufan1995 and
mingxin-zheng
There was a problem hiding this comment.
Pull Request Overview
This PR enhances the simulation reset functionality by allowing sim_with_dds.py to load and reset to recorded initial states from HDF5 files and adds an evaluation pipeline for trajectory metrics. Key changes include:
- New unit tests for trajectory overlap and distance computation.
- Added evaluation utilities and scripts (metrics, evaluate_trajectories) to process, plot, and compare trajectories.
- Modifications in the simulation environment and replay recording modules to support recorded data reset, along with updated documentation.
Reviewed Changes
Copilot reviewed 9 out of 9 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| workflows/robotic_ultrasound/tests/test_simulation/test_metrics.py | New tests added for computing trajectory overlap and average distance. |
| workflows/robotic_ultrasound/scripts/simulation/evaluation/utils.py | Added functions to load ground truth/predicted data and plot trajectories. |
| workflows/robotic_ultrasound/scripts/simulation/evaluation/metrics.py | Provides metric computation using a KDTree for nearest neighbor queries. |
| workflows/robotic_ultrasound/scripts/simulation/evaluation/evaluate_trajectories.py | Implements a full evaluation pipeline for trajectory comparisons. |
| workflows/robotic_ultrasound/scripts/simulation/environments/state_machine/utils.py | Updates to support resetting the scene to its recorded initial state via HDF5 data. |
| workflows/robotic_ultrasound/scripts/simulation/environments/state_machine/replay_recording.py | Cleans up duplicate functions by importing shared utilities. |
| workflows/robotic_ultrasound/scripts/simulation/environments/sim_with_dds.py | Adds CLI arguments and logic for resetting using HDF5 data and saving end‐effector trajectories. |
| workflows/robotic_ultrasound/scripts/simulation/README.md | Updated documentation to explain the new evaluation pipeline and reset capabilities. |
workflows/robotic_ultrasound/scripts/simulation/environments/sim_with_dds.py
Show resolved
Hide resolved
workflows/robotic_ultrasound/scripts/simulation/evaluation/utils.py
Outdated
Show resolved
Hide resolved
NigelNelson
reviewed
May 27, 2025
workflows/robotic_ultrasound/scripts/simulation/environments/sim_with_dds.py
Outdated
Show resolved
Hide resolved
NigelNelson
reviewed
May 27, 2025
workflows/robotic_ultrasound/scripts/simulation/environments/sim_with_dds.py
Outdated
Show resolved
Hide resolved
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
|
/build |
workflows/robotic_ultrasound/scripts/simulation/evaluation/evaluate_trajectories.py
Outdated
Show resolved
Hide resolved
workflows/robotic_ultrasound/scripts/simulation/evaluation/utils.py
Outdated
Show resolved
Hide resolved
workflows/robotic_ultrasound/tests/test_simulation/test_evaluate_trajectories.py
Outdated
Show resolved
Hide resolved
workflows/robotic_ultrasound/scripts/simulation/evaluation/evaluate_trajectories.py
Outdated
Show resolved
Hide resolved
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
|
/build |
Nic-Ma
approved these changes
May 29, 2025
mingxin-zheng
approved these changes
May 29, 2025
KumoLiu
changed the title
|
/build |
2 similar comments
|
/build |
|
/build |
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
|
/build |
…yunl/enhance-sim-with-dds
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
|
/build |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Enhance sim_with_dds.py to reset to the recorded initial state. If hdf5_path is None, it will reset to the initial state recorded in the recorded data.
Add evaluation pipeline