oracle works on coffee

predicators/envs/pybullet_coffee.py

@@ -1,4 +1,9 @@
-"""A PyBullet version of CoffeeEnv."""
+"""A PyBullet version of CoffeeEnv.
+python predicators/main.py --env pybullet_coffee --approach oracle --seed 0 \
+--coffee_rotated_jug_ratio 0.5 \
+--sesame_check_expected_atoms False --coffee_jug_pickable_pred True \
+--pybullet_control_mode "reset" --coffee_twist_sampler False 
+"""
 
 import logging
 from pathlib import Path
@@ -953,27 +958,14 @@ def step(self, action: Action) -> State:
                 physicsClientId=self._physics_client_id)
 
         if self._PressingButton_holds(state, [self._robot, self._machine]):
-            if CFG.coffee_mac_requires_jug_to_turn_on:
-                if self._JugInMachine_holds(state, [self._jug, self._machine]):
-                    p.changeVisualShape(
-                        self._button_id,
-                        -1,
-                        rgbaColor=self.button_color_on,
-                        physicsClientId=self._physics_client_id)
-                    p.changeVisualShape(
-                        self._button_id,
-                        0,
-                        rgbaColor=self.button_color_on,
-                        physicsClientId=self._physics_client_id)
-            else:
-                p.changeVisualShape(self._button_id,
-                                    -1,
-                                    rgbaColor=self.button_color_on,
-                                    physicsClientId=self._physics_client_id)
-                p.changeVisualShape(self._button_id,
-                                    0,
-                                    rgbaColor=self.button_color_on,
-                                    physicsClientId=self._physics_client_id)
+            p.changeVisualShape(self._button_id,
+                                -1,
+                                rgbaColor=self.button_color_on,
+                                physicsClientId=self._physics_client_id)
+            p.changeVisualShape(self._button_id,
+                                0,
+                                rgbaColor=self.button_color_on,
+                                physicsClientId=self._physics_client_id)
             # the jug is only filled if it's in the machine
             if self._JugInMachine_holds(state, [self._jug, self._machine]):
                 if not self._jug_filled:

predicators/settings.py

@@ -742,6 +742,7 @@ def get_arg_specific_settings(cls, args: Dict[str, Any]) -> Dict[str, Any]:
                     # tasks take more actions to complete.
                     "pybullet_cover": 1000,
                     "pybullet_blocks": 1000,
+                    "pybullet_coffee": 2000,
                     "doors": 1000,
                     "coffee": 1000,
                     "kitchen": 1000,
@@ -799,6 +800,7 @@ def get_arg_specific_settings(cls, args: Dict[str, Any]) -> Dict[str, Any]:
                 {
                     # For these environments, allow more skeletons.
                     "coffee": 1000,
+                    "pybullet_coffee": 100,
                     "exit_garage": 1000,
                     "tools": 1000,
                     "stick_button": 1000,

scripts/configs/pred_invention_vlm.yaml

@@ -150,14 +150,14 @@ ENVS:
       num_train_tasks: 5 #0 # pybullet_coffee, cover
       excluded_predicates: all
       coffee_num_cups_train: '[1]'
-      coffee_rotated_jug_ratio: 0
+      coffee_rotated_jug_ratio: 0.5
       pybullet_camera_height: 900  # for high quality, use 900
       pybullet_camera_width: 1200 # 1200 for coffee
       pybullet_control_mode: "reset" # need for blocks and coffee
       rgb_observation: True
       coffee_twist_sampler: False
-      coffee_combined_move_and_twist_policy: True
       sesame_check_expected_atoms: False
+      coffee_jug_pickable_pred: True
 
   # kitchen_boil_kettle:
   #   NAME: "kitchen"