[EpisodeSegmenter] adjusting frequency of detector, logger, and player.

src/episode_segmenter/episode_segmenter.py

@@ -73,7 +73,7 @@ def run_event_detectors(self) -> None:
 
                 for detector_thread in self.detector_threads_list:
                     detector_thread.stop()
-                    print(f"Joining {detector_thread.thread_id}, {detector_thread.name}")
+                    logdebug(f"Joining {detector_thread.thread_id}, {detector_thread.name}")
                     detector_thread.join()
                 closed_threads = True
 
@@ -256,7 +256,7 @@ def join(self):
         """
         self.logger.print_events()
         self.logger.join()
-        print("All threads joined.")
+        logdebug("All threads joined.")
 
 
 class AgentBasedEpisodeSegmenter(EpisodeSegmenter):

src/episode_segmenter/event_detectors.py

@@ -216,7 +216,7 @@ def join(self, timeout=None):
 
 class AbstractContactDetector(PrimitiveEventDetector, ABC):
     def __init__(self, logger: EventLogger, starter_event: EventUnion, with_object: Optional[Object] = None,
-                 max_closeness_distance: Optional[float] = 0.05, wait_time: Optional[float] = 0.1,
+                 max_closeness_distance: Optional[float] = 0.05, wait_time: Optional[float] = 0.01,
                  *args, **kwargs):
         """
         :param logger: An instance of the EventLogger class that is used to log the events.
@@ -590,6 +590,11 @@ class AbstractAgentObjectInteractionDetector(EventDetector, ABC):
     A string that is used as a prefix for the thread ID.
     """
 
+    currently_tracked_objects: List[Object] = []
+    """
+    A list of Object instances that represent the objects that are currently being tracked.
+    """
+
     def __init__(self, logger: EventLogger, starter_event: EventUnion, *args, **kwargs):
         """
         :param logger: An instance of the EventLogger class that is used to log the events.
@@ -598,6 +603,7 @@ def __init__(self, logger: EventLogger, starter_event: EventUnion, *args, **kwar
         """
         super().__init__(logger, starter_event, *args, **kwargs)
         self.tracked_object = self.get_object_to_track_from_starter_event(starter_event)
+        self.currently_tracked_objects.append(self.tracked_object)
         self.interaction_event: EventUnion = self._init_interaction_event()
         self.end_timestamp: Optional[float] = None
         self.run_once = True
@@ -676,14 +682,20 @@ def __init__(self, logger: EventLogger, starter_event: AgentContactEvent, *args,
         event detector, this is a contact between the agent and the tracked_object.
         """
         super().__init__(logger, starter_event, *args, **kwargs)
-        self.surface_detector = LossOfSurfaceDetector(logger, self.starter_event)
+        self.surface_detector = LossOfSurfaceDetector(logger, NewObjectEvent(self.tracked_object))
         self.surface_detector.start()
         self.agent = starter_event.agent
         self.interaction_event.agent = self.agent
 
     @classmethod
     def get_object_to_track_from_starter_event(cls, event: AgentContactEvent) -> Object:
-        return select_transportable_objects_from_contact_event(event)[0]
+        return cls.get_new_transportable_objects(event)[0]
+
+    @classmethod
+    def get_new_transportable_objects(cls, event: AgentContactEvent) -> List[Object]:
+        transportable_objects = select_transportable_objects_from_contact_event(event)
+        new_transportable_objects = [obj for obj in transportable_objects if obj not in cls.currently_tracked_objects]
+        return new_transportable_objects
 
     @classmethod
     def start_condition_checker(cls, event: Event) -> bool:
@@ -692,7 +704,7 @@ def start_condition_checker(cls, event: Event) -> bool:
 
         :param event: The ContactEvent instance that represents the contact event.
         """
-        return isinstance(event, AgentContactEvent) and any(select_transportable_objects_from_contact_event(event))
+        return isinstance(event, AgentContactEvent) and any(cls.get_new_transportable_objects(event))
 
     def interaction_checks(self) -> bool:
         """

src/episode_segmenter/event_logger.py

@@ -115,7 +115,6 @@ def get_nearest_event_of_thread(self, thread_id: str, timestamp: float) -> Optio
             if thread_id not in self.timeline_per_thread:
                 return None
             all_event_timestamps = [(event, event.timestamp) for event in self.timeline_per_thread[thread_id]]
-            print(all_event_timestamps)
             return min(all_event_timestamps, key=lambda x: abs(x[1] - timestamp))[0]
 
     def get_latest_event_of_thread(self, thread_id: str) -> Optional[Event]:
@@ -174,8 +173,9 @@ def get_next_z_offset(self):
     def run(self):
         while not self.kill_event.is_set():
             try:
-                event = self.logger.annotation_queue.get(timeout=1)
+                event = self.logger.annotation_queue.get(block=False)
             except queue.Empty:
+                time.sleep(0.001)
                 continue
             self.logger.annotation_queue.task_done()
             if len(self.current_annotations) >= self.max_annotations:
@@ -192,7 +192,7 @@ def run(self):
             z_offset = self.get_next_z_offset()
             text_ann = event.annotate([1.5, 1, z_offset])
             self.current_annotations.append(text_ann)
-            time.sleep(0.1)
+            time.sleep(0.001)
 
     def stop(self):
         self.kill_event.set()

src/episode_segmenter/neem_segmenter.py

@@ -23,7 +23,7 @@ def ready(self):
 
     def run(self):
         self.pni.replay_motions_in_query(real_time=False,
-                                         step_time=datetime.timedelta(milliseconds=1))
+                                         step_time=datetime.timedelta(milliseconds=0))
 
 
 class NEEMSegmenter(AgentBasedEpisodeSegmenter):