Got Fetch integration to work

Learning-and-Intelligent-Systems · Dec 6, 2023 · ccd9b20 · ccd9b20
1 parent 24a2eb3
commit ccd9b20
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Showing 4 changed files with 19 additions and 8 deletions.
diff --git a/predicators/behavior_utils/behavior_utils.py b/predicators/behavior_utils/behavior_utils.py
@@ -1341,7 +1341,8 @@ def sample_place_ontop_params(igibson_behavior_env: "BehaviorEnv",
                               obj_to_place_ontop: "URDFObject",
                               rng: np.random.Generator,
                               max_internal_samples=None,
-                              return_failed_samples=False) -> Array:
+                              return_failed_samples=False,
+                              return_distribution_samples=False) -> Array:
     """Main logic for place ontop param sampler.
 
     Implemented in a separate method to enable code reuse in
@@ -1431,7 +1432,8 @@ def sample_place_next_to_params(igibson_behavior_env: "BehaviorEnv",
                                 obj_to_place_nextto: "URDFObject",
                                 rng: np.random.Generator,
                                 max_internal_samples=None,
-                                return_failed_samples=False) -> Array:
+                                return_failed_samples=False,
+                                return_distribution_samples=False) -> Array:
     """Main logic for place next to param sampler.
 
     Implemented in a separate method to enable code reuse in
@@ -1535,7 +1537,8 @@ def sample_place_under_params(igibson_behavior_env: "BehaviorEnv",
                               obj_to_place_under: "URDFObject",
                               rng: np.random.Generator,
                               max_internal_samples=None,
-                              return_failed_samples=False) -> Array:
+                              return_failed_samples=False,
+                              return_distribution_samples=False) -> Array:
     """Main logic for place under param sampler.
 
     Implemented in a separate method to enable code reuse in

diff --git a/predicators/envs/behavior.py b/predicators/envs/behavior.py
@@ -849,7 +849,7 @@ def _reachable_classifier(self,
         if ig_obj.name == "agent":
             return False
 
-    if isinstance(robot_obj, BehaviorRobot):
+        if isinstance(robot_obj, BehaviorRobot):
             robot_x, robot_y, _ = robot_obj.get_position()
             obj_x, obj_y, _ = ig_obj.get_position()
             _, _, robot_yaw = p.getEulerFromQuaternion(robot_obj.get_orientation())

diff --git a/predicators/ground_truth_nsrts.py b/predicators/ground_truth_nsrts.py
@@ -3349,14 +3349,18 @@ def place_under_obj_pos_sampler(
                     set(),
                     option,
                     option_vars,
-                    lambda s, g, r, o: sampler(
+                    lambda s, g, r, o, max_internal_samples=None,
+                        return_failed_samples=False, return_distribution_samples=False: sampler(
                     s,
                     g,
                     r,
                     [
                         env.object_to_ig_object(o_i)
                         if isinstance(o_i, Object) else o_i for o_i in o
                     ],
+                    max_internal_samples=max_internal_samples,
+                    return_failed_samples=return_failed_samples,
+                    return_distribution_samples=return_distribution_samples,
                 ))
                 nsrts.add(nsrt)
                 # NSRT for grasping an object from inside an object.
@@ -3369,14 +3373,18 @@ def place_under_obj_pos_sampler(
                     set(),
                     option,
                     option_vars,
-                    lambda s, g, r, o: sampler(
+                    lambda s, g, r, o, max_internal_samples=None,
+                        return_failed_samples=False, return_distribution_samples=False: sampler(
                     s,
                     g,
                     r,
                     [
                         env.object_to_ig_object(o_i)
                         if isinstance(o_i, Object) else o_i for o_i in o
                     ],
+                    max_internal_samples=max_internal_samples,
+                    return_failed_samples=return_failed_samples,
+                    return_distribution_samples=return_distribution_samples,
                 ))
                 nsrts.add(nsrt)
 

diff --git a/predicators/main.py b/predicators/main.py
@@ -180,9 +180,9 @@ def _run_pipeline(env: BaseEnv,
                 logging.info("Reached online_learning_max_transitions, "
                              "terminating")
                 break
-            logging.warning("CAREFUL!! THIS WILL EXIT RIGHT AFTER COLLECTING INTERACTION REQUESTS")
+            # logging.warning("CAREFUL!! THIS WILL EXIT RIGHT AFTER COLLECTING INTERACTION REQUESTS")
             interaction_requests = approach.get_interaction_requests()
-            exit()
+            # exit()
             if not interaction_requests:
                 logging.info("Did not receive any interaction requests, "
                              "terminating")