delete pour

bdaiinstitute · May 28, 2024 · f58b062 · f58b062
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diff --git a/predicators/spot_utils/move_and_pour.py b/predicators/spot_utils/move_and_pour.py
diff --git a/predicators/spot_utils/perception/no_detection_artifacts.png b/predicators/spot_utils/perception/no_detection_artifacts.png
diff --git a/predicators/spot_utils/perception/object_detection_artifacts.png b/predicators/spot_utils/perception/object_detection_artifacts.png
diff --git a/predicators/spot_utils/perception/plant-short/plant1.txt b/predicators/spot_utils/perception/plant-short/plant1.txt
diff --git a/predicators/spot_utils/perception/plant-short/plant2.txt b/predicators/spot_utils/perception/plant-short/plant2.txt
diff --git a/predicators/spot_utils/perception/plant-short/state_2024-05-21 18:26:35.545072.txt b/predicators/spot_utils/perception/plant-short/state_2024-05-21 18:26:35.545072.txt
@@ -0,0 +1,3 @@
+Detected LanguageID(potted plant) at position -- X: 0.220 Y: -0.410 Z: 0.179 rotation -- W: 1.0000 X: 0.0000 Y: 0.0000 Z: 0.0000
+Robot pose: position -- X: 3.858 Y: -0.051 Z: 0.151 rotation -- W: -0.1692 X: -0.0010 Y: -0.0006 Z: 0.9856
+Hand pose: position -- X: 3.306 Y: -0.049 Z: -0.069 rotation -- W: -0.1694 X: -0.0076 Y: 0.0005 Z: 0.9855
diff --git a/predicators/spot_utils/perception/plant-short/state_2024-05-21 18:27:25.276281.txt b/predicators/spot_utils/perception/plant-short/state_2024-05-21 18:27:25.276281.txt
@@ -0,0 +1,3 @@
+Detected LanguageID(potted plant) at position -- X: 0.923 Y: -0.274 Z: 0.134 rotation -- W: 1.0000 X: 0.0000 Y: 0.0000 Z: 0.0000
+Robot pose: position -- X: 2.464 Y: -0.468 Z: 0.123 rotation -- W: -0.4515 X: -0.0017 Y: -0.0006 Z: 0.8923
+Hand pose: position -- X: -0.145 Y: -0.394 Z: 1.741 rotation -- W: -0.3294 X: -0.7136 Y: 0.3309 Z: 0.5222
diff --git a/predicators/spot_utils/perception/plant-short/state_2024-05-21 18:28:31.174064.txt b/predicators/spot_utils/perception/plant-short/state_2024-05-21 18:28:31.174064.txt
@@ -0,0 +1,3 @@
+Detected LanguageID(potted plant) at position -- X: 0.980 Y: -0.268 Z: -0.131 rotation -- W: 1.0000 X: 0.0000 Y: 0.0000 Z: 0.0000
+Robot pose: position -- X: 1.852 Y: -0.317 Z: 0.029 rotation -- W: 0.2490 X: 0.0311 Y: 0.0058 Z: -0.9680
+Hand pose: position -- X: 0.075 Y: 0.240 Z: 0.962 rotation -- W: 0.2966 X: 0.6067 Y: -0.3155 Z: -0.6666
diff --git a/predicators/spot_utils/perception/plant-tall/state_2024-05-21 18:20:55.519938.txt b/predicators/spot_utils/perception/plant-tall/state_2024-05-21 18:20:55.519938.txt
@@ -0,0 +1,3 @@
+Detected LanguageID(potted plant) at position -- X: 0.994 Y: -0.582 Z: 0.143 rotation -- W: 1.0000 X: 0.0000 Y: 0.0000 Z: 0.0000
+Robot pose: position -- X: 3.652 Y: 0.111 Z: -0.088 rotation -- W: -0.1436 X: -0.0009 Y: -0.0005 Z: 0.9896
+Hand pose: position -- X: 3.104 Y: 0.112 Z: -0.307 rotation -- W: -0.1438 X: -0.0079 Y: 0.0005 Z: 0.9896
diff --git a/predicators/spot_utils/perception/plant-tall/state_2024-05-21 18:21:36.705204.txt b/predicators/spot_utils/perception/plant-tall/state_2024-05-21 18:21:36.705204.txt
@@ -0,0 +1,3 @@
+Detected LanguageID(potted plant) at position -- X: 0.504 Y: 1.954 Z: 0.843 rotation -- W: 1.0000 X: 0.0000 Y: 0.0000 Z: 0.0000
+Robot pose: position -- X: 2.543 Y: -0.501 Z: 0.124 rotation -- W: -0.2786 X: -0.0007 Y: -0.0019 Z: 0.9604
+Hand pose: position -- X: 1.992 Y: -0.501 Z: -0.111 rotation -- W: -0.2787 X: -0.0075 Y: 0.0002 Z: 0.9604
diff --git a/predicators/spot_utils/perception/plant-tall/state_2024-05-21 18:23:43.159150.txt b/predicators/spot_utils/perception/plant-tall/state_2024-05-21 18:23:43.159150.txt
@@ -0,0 +1,3 @@
+Detected LanguageID(potted plant) at position -- X: 0.501 Y: 2.020 Z: 0.769 rotation -- W: 1.0000 X: 0.0000 Y: 0.0000 Z: 0.0000
+Robot pose: position -- X: 1.910 Y: -0.327 Z: 0.189 rotation -- W: 0.3682 X: -0.0260 Y: -0.0118 Z: -0.9293
+Hand pose: position -- X: -0.155 Y: 0.098 Z: 1.046 rotation -- W: 0.2218 X: 0.6180 Y: -0.4710 Z: -0.5891
diff --git a/predicators/spot_utils/perception/state_2024-05-21 18:03:23.408526.txt b/predicators/spot_utils/perception/state_2024-05-21 18:03:23.408526.txt
diff --git a/predicators/spot_utils/sample_and_move.py b/predicators/spot_utils/sample_and_move.py
@@ -81,6 +81,15 @@ def reward_function(input_traj: List[Tuple[float, float]]) -> float:
         reward += -np.linalg.norm(np.array([desired_trajectory[i][0], desired_trajectory[i][1]]) - np.array([waypoint[0], waypoint[1]]))
     return reward
 
+# ANDI to modify
+#def reward_network(input_traj: List[Tuple[float, float]]) -> float:
+#    self.cost_nn = MLP(input_dim, 1, [], output_activation=None).to(self.device)
+#    self.optimizer = optim.Adam(self.cost_nn.parameters(), lr=params["lr"])
+
+#def calc_cost(self, traj):
+#    traj = torch.tensor(traj, dtype=torch.float32).to(self.device)
+#    return self.cost_nn(traj).item()
+
 # Example sampler.
 spot_home_pose = get_spot_home_pose()
 max_reward = -np.inf
@@ -95,6 +104,10 @@ def reward_function(input_traj: List[Tuple[float, float]]) -> float:
     if reward_function(curr_traj) > max_reward:
         max_reward = reward_function(curr_traj)
         max_reward_traj = curr_traj
+    # ANDI TO MODIFY + ADD
+    # if calc_cost(curr_traj) < max_cost:
+    #    min_cost = calc_cost(curr_traj)
+    #    min_cost_traj = curr_traj
 assert max_reward_traj is not None
 
 print(max_reward_traj)