From 70f7f8bcf8ad807f2535df013d3bb8cc53e2c3eb Mon Sep 17 00:00:00 2001 From: Willie McClinton Date: Thu, 2 Nov 2023 15:36:20 -0400 Subject: [PATCH] reverted --- .../behavior_utils/motion_planner_fns.py | 6 +- scripts/configs/behavior_20_evaluation.yaml | 8 +- .../configs/behavior_20_evaluation_extra.yaml | 57 ------ scripts/configs/behavior_20_videos.yaml | 164 ------------------ .../configs/behavior_last_8_evaluation.yaml | 78 --------- 5 files changed, 7 insertions(+), 306 deletions(-) delete mode 100644 scripts/configs/behavior_20_evaluation_extra.yaml delete mode 100644 scripts/configs/behavior_20_videos.yaml delete mode 100644 scripts/configs/behavior_last_8_evaluation.yaml diff --git a/predicators/behavior_utils/motion_planner_fns.py b/predicators/behavior_utils/motion_planner_fns.py index 2e20298dc4..732d0bd1f6 100644 --- a/predicators/behavior_utils/motion_planner_fns.py +++ b/predicators/behavior_utils/motion_planner_fns.py @@ -127,7 +127,8 @@ def sample_fn(env: "BehaviorEnv", if CFG.behavior_option_model_rrt: obstacles = get_relevant_scene_body_ids(env) if env.robots[0].parts["right_hand"].object_in_hand is not None: - obstacles.remove(env.robots[0].parts["right_hand"].object_in_hand) + if env.robots[0].parts["right_hand"].object_in_hand in obstacles: + obstacles.remove(env.robots[0].parts["right_hand"].object_in_hand) plan = plan_base_motion_br( robot=env.robots[0], end_conf=end_conf, @@ -430,7 +431,8 @@ def make_place_plan( maxz = max(z, hand_z) + 0.5 obstacles = get_relevant_scene_body_ids(env, include_self=False) - obstacles.remove(env.robots[0].parts["right_hand"].object_in_hand) + if env.robots[0].parts["right_hand"].object_in_hand in obstacles: + obstacles.remove(env.robots[0].parts["right_hand"].object_in_hand) end_conf = [ x, y, diff --git a/scripts/configs/behavior_20_evaluation.yaml b/scripts/configs/behavior_20_evaluation.yaml index 2049399daf..d57d536fc5 100644 --- a/scripts/configs/behavior_20_evaluation.yaml +++ b/scripts/configs/behavior_20_evaluation.yaml @@ -153,10 +153,8 @@ FLAGS: # general flags timeout: 1000.0 horizon: 1000 behavior_override_learned_samplers: True - behavior_ignore_discover_failures: True - create_training_dataset: True - num_train_tasks: 5 + num_train_tasks: 0 num_test_tasks: 5 -START_SEED: 465 -NUM_SEEDS: 10 +START_SEED: 0 +NUM_SEEDS: 1 USE_GPU: False diff --git a/scripts/configs/behavior_20_evaluation_extra.yaml b/scripts/configs/behavior_20_evaluation_extra.yaml deleted file mode 100644 index 2cec26ec63..0000000000 --- a/scripts/configs/behavior_20_evaluation_extra.yaml +++ /dev/null @@ -1,57 +0,0 @@ -# A configuration file for 20 BEHAVIOR tasks. ---- -APPROACHES: - my-oracle: - NAME: "oracle" - FLAGS: - plan_only_eval: True - sesame_task_planner: fdopt -ENVS: - setting_mousetraps-Benevolence_2_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Benevolence_2_int - behavior_test_scene_name: Benevolence_2_int - behavior_task_list: "[setting_mousetraps]" - behavior_option_model_eval: True - cleaning_a_car-Ihlen_0_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Ihlen_0_int - behavior_test_scene_name: Ihlen_0_int - behavior_task_list: "[cleaning_a_car]" - behavior_option_model_eval: True - installing_a_fax_machine-Pomaria_0_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Pomaria_0_int - behavior_test_scene_name: Pomaria_0_int - behavior_task_list: "[installing_a_fax_machine]" - behavior_option_model_eval: True - loading_the_dishwasher-Pomaria_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Pomaria_1_int - behavior_test_scene_name: Pomaria_1_int - behavior_task_list: "[loading_the_dishwasher]" - behavior_option_model_eval: True - re-shelving_library_books-Pomaria_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Pomaria_1_int - behavior_test_scene_name: Pomaria_1_int - behavior_task_list: "[re-shelving_library_books]" - behavior_option_model_eval: True -ARGS: {} -FLAGS: # general flags - offline_data_planning_timeout: 1000.0 - timeout: 1000.0 - horizon: 1000 - behavior_override_learned_samplers: True - behavior_ignore_discover_failures: True - create_training_dataset: True - num_train_tasks: 5 - num_test_tasks: 5 -START_SEED: 465 -NUM_SEEDS: 10 -USE_GPU: False diff --git a/scripts/configs/behavior_20_videos.yaml b/scripts/configs/behavior_20_videos.yaml deleted file mode 100644 index 0e27ab6bfb..0000000000 --- a/scripts/configs/behavior_20_videos.yaml +++ /dev/null @@ -1,164 +0,0 @@ -# A configuration file for 20 BEHAVIOR tasks. ---- -APPROACHES: - my-oracle: - NAME: "oracle" - FLAGS: - sesame_task_planner: fdopt -ENVS: - # installing_a_fax_machine-Pomaria_0_int: - # NAME: "behavior" - # FLAGS: - # behavior_train_scene_name: Pomaria_0_int - # behavior_test_scene_name: Pomaria_0_int - # behavior_task_list: "[installing_a_fax_machine]" - # behavior_option_model_eval: True - # locking_every_door-Pomaria_0_int: - # NAME: "behavior" - # FLAGS: - # behavior_train_scene_name: Pomaria_0_int - # behavior_test_scene_name: Pomaria_0_int - # behavior_task_list: "[locking_every_door]" - # behavior_option_model_eval: True - # locking_every_window-Rs_int: - # NAME: "behavior" - # FLAGS: - # behavior_train_scene_name: Rs_int - # behavior_test_scene_name: Rs_int - # behavior_task_list: "[locking_every_window]" - # behavior_option_model_eval: True - opening_packages-Pomaria_2_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Pomaria_2_int - behavior_test_scene_name: Pomaria_2_int - behavior_task_list: "[opening_packages]" - behavior_option_model_eval: True - opening_presents-Pomaria_2_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Pomaria_2_int - behavior_test_scene_name: Pomaria_2_int - behavior_task_list: "[opening_presents]" - behavior_option_model_eval: True - boxing_books_up_for_storage-Benevolence_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Benevolence_1_int - behavior_test_scene_name: Benevolence_1_int - behavior_task_list: "[boxing_books_up_for_storage]" - behavior_option_model_eval: True - collect_misplaced_items-Merom_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Merom_1_int - behavior_test_scene_name: Merom_1_int - behavior_task_list: "[collect_misplaced_items]" - behavior_option_model_eval: True - collecting_aluminum_cans-Benevolence_2_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Benevolence_2_int - behavior_test_scene_name: Benevolence_2_int - behavior_task_list: "[collecting_aluminum_cans]" - behavior_option_model_eval: True - organizing_file_cabinet-Pomaria_0_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Pomaria_0_int - behavior_test_scene_name: Pomaria_0_int - behavior_task_list: "[organizing_file_cabinet]" - behavior_option_model_eval: True - picking_up_trash-Wainscott_0_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Wainscott_0_int - behavior_test_scene_name: Wainscott_0_int - behavior_task_list: "[picking_up_trash]" - behavior_option_model_eval: True - polishing_furniture-Rs_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Rs_int - behavior_test_scene_name: Rs_int - behavior_task_list: "[polishing_furniture]" - behavior_option_model_eval: True - polishing_silver-Wainscott_0_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Wainscott_0_int - behavior_test_scene_name: Wainscott_0_int - behavior_task_list: "[polishing_silver]" - behavior_option_model_eval: True - putting_leftovers_away-Ihlen_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Ihlen_1_int - behavior_test_scene_name: Ihlen_1_int - behavior_task_list: "[putting_leftovers_away]" - behavior_option_model_eval: True - re-shelving_library_books-Pomaria_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Pomaria_1_int - behavior_test_scene_name: Pomaria_1_int - behavior_task_list: "[re-shelving_library_books]" - behavior_option_model_eval: True - sorting_books-Pomaria_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Pomaria_1_int - behavior_test_scene_name: Pomaria_1_int - behavior_task_list: "[sorting_books]" - behavior_option_model_eval: True - throwing_away_leftovers-Ihlen_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Ihlen_1_int - behavior_test_scene_name: Ihlen_1_int - behavior_task_list: "[throwing_away_leftovers]" - behavior_option_model_eval: True - unpacking_suitcase-Ihlen_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Ihlen_1_int - behavior_test_scene_name: Ihlen_1_int - behavior_task_list: "[unpacking_suitcase]" - behavior_option_model_eval: True - setting_mousetraps-Benevolence_2_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Benevolence_2_int - behavior_test_scene_name: Benevolence_2_int - behavior_task_list: "[setting_mousetraps]" - behavior_option_model_eval: True - cleaning_a_car-Ihlen_0_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Ihlen_0_int - behavior_test_scene_name: Ihlen_0_int - behavior_task_list: "[cleaning_a_car]" - behavior_option_model_eval: True - loading_the_dishwasher-Pomaria_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Pomaria_1_int - behavior_test_scene_name: Pomaria_1_int - behavior_task_list: "[loading_the_dishwasher]" - behavior_option_model_eval: True -ARGS: {} -FLAGS: # general flags - offline_data_planning_timeout: 1000.0 - timeout: 1000.0 - horizon: 1000 - behavior_override_learned_samplers: True - behavior_ignore_discover_failures: True - create_training_dataset: False - num_train_tasks: 0 - num_test_tasks: 1 - behavior_mode: simple - behavior_save_video: True - behavior_option_model_rrt: True -START_SEED: 0 -NUM_SEEDS: 10 -USE_GPU: False diff --git a/scripts/configs/behavior_last_8_evaluation.yaml b/scripts/configs/behavior_last_8_evaluation.yaml deleted file mode 100644 index 757f3824e1..0000000000 --- a/scripts/configs/behavior_last_8_evaluation.yaml +++ /dev/null @@ -1,78 +0,0 @@ -# A configuration file for 20 BEHAVIOR tasks. ---- -APPROACHES: - my-oracle: - NAME: "oracle" - FLAGS: - plan_only_eval: True - sesame_task_planner: fdopt -ENVS: - picking_up_trash-Wainscott_0_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Wainscott_0_int - behavior_test_scene_name: Wainscott_0_int - behavior_task_list: "[picking_up_trash]" - behavior_option_model_eval: True - polishing_furniture-Rs_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Rs_int - behavior_test_scene_name: Rs_int - behavior_task_list: "[polishing_furniture]" - behavior_option_model_eval: True - polishing_silver-Wainscott_0_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Wainscott_0_int - behavior_test_scene_name: Wainscott_0_int - behavior_task_list: "[polishing_silver]" - behavior_option_model_eval: True - putting_leftovers_away-Ihlen_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Ihlen_1_int - behavior_test_scene_name: Ihlen_1_int - behavior_task_list: "[putting_leftovers_away]" - behavior_option_model_eval: True - re-shelving_library_books-Pomaria_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Pomaria_1_int - behavior_test_scene_name: Pomaria_1_int - behavior_task_list: "[re-shelving_library_books]" - behavior_option_model_eval: True - sorting_books-Pomaria_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Pomaria_1_int - behavior_test_scene_name: Pomaria_1_int - behavior_task_list: "[sorting_books]" - behavior_option_model_eval: True - throwing_away_leftovers-Ihlen_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Ihlen_1_int - behavior_test_scene_name: Ihlen_1_int - behavior_task_list: "[throwing_away_leftovers]" - behavior_option_model_eval: True - unpacking_suitcase-Ihlen_1_int: - NAME: "behavior" - FLAGS: - behavior_train_scene_name: Ihlen_1_int - behavior_test_scene_name: Ihlen_1_int - behavior_task_list: "[unpacking_suitcase]" - behavior_option_model_eval: True -ARGS: {} -FLAGS: # general flags - offline_data_planning_timeout: 1000.0 - timeout: 1000.0 - horizon: 1000 - behavior_override_learned_samplers: True - behavior_ignore_discover_failures: True - create_training_dataset: True - num_train_tasks: 5 - num_test_tasks: 5 -START_SEED: 465 -NUM_SEEDS: 10 -USE_GPU: False