Simplify planning

operators/planning_op.py

@@ -3,10 +3,6 @@ import numpy as np
 import pyarrow as pa
 from dora import DoraStatus
 
-GOAL = np.array([10, 20])
-
-HOME_TO_KITCHEN = np.array([[0.5, 0], [0.5, -5.0], [1.0, 7.0]])
-KITCHEN_TO_HOME = np.array([[2.0, 0.0], [0.0, 0.0]])
 
 CAMERA_WIDTH = 960
 CAMERA_HEIGHT = 540
@@ -89,12 +85,9 @@ class Operator:
         dora_event: dict,
         send_output,
     ) -> DoraStatus:
-        global POSITION_GOAL, GIMBAL_GOAL
         if dora_event["type"] == "INPUT":
             id = dora_event["id"]
-            if id == "tick":
-                self.time = time.time()
-            elif id == "image":
+            if id == "image":
                 value = dora_event["value"].to_numpy()
 
                 self.image = value.reshape((CAMERA_HEIGHT, CAMERA_WIDTH, 3))
@@ -108,6 +101,7 @@ class Operator:
                 if len(dora_event["value"]) > 0:
                     self.waypoints = dora_event["value"].to_numpy().reshape((-1, 2))
             elif id == "position":
+                print("got position:", dora_event["value"], flush=True)
                 ## No bounding box yet
                 if self.waypoints is None:
                     print("no waypoint", flush=True)
@@ -122,7 +116,7 @@ class Operator:
                 # Remove waypoints if completed
                 if (
                     len(self.waypoints) > 0
-                    and np.linalg.norm(self.waypoints[0] - [x, y]) < 0.2
+                    and np.linalg.norm(self.waypoints[0] - [x, y]) < 0.1
                 ):
                     self.waypoints = self.waypoints[1:]
                     print("removing waypoints", flush=True)
@@ -134,7 +128,7 @@ class Operator:
 
                 z = np.deg2rad(z)
                 self.tf = np.array([[np.cos(z), -np.sin(z)], [np.sin(z), np.cos(z)]])
-                goal = self.tf.dot(self.waypoints[0])
+                goal = self.tf.dot(self.waypoints[0] - np.array([x, y]))
                 goal_camera_x = (
                     CAMERA_WIDTH * np.arctan2(goal[1], goal[0]) / np.pi
                 ) + CAMERA_WIDTH / 2
@@ -155,41 +149,33 @@ class Operator:
                     flush=True,
                 )
 
-                if True:  # check_clear_road(self.bboxs, CAMERA_WIDTH, goal_camera_x):
-                    self.count += 1
-                    self.completed = False
-                    send_output(
-                        "control",
-                        pa.array(
-                            [
-                                {
-                                    "action": "gimbal",
-                                    "value": [0.0, goal_angle],
-                                    "count": self.count,
-                                },
-                                # {
-                                # "value": [
-                                # 0.0,
-                                # 0.0,
-                                # -goal_angle,
-                                # 0.0,
-                                # 50,
-                                # ],
-                                # "action": "control",
-                                # },
-                                {
-                                    "value": [
-                                        self.waypoints[0][0],
-                                        self.waypoints[0][1],
-                                        0.0,  # -goal_angle,
-                                        0.6,
-                                        0.0,  # 50,
-                                    ],
-                                    "action": "control",
-                                },
-                            ]
-                        ),
-                        dora_event["metadata"],
-                    )
+                self.count += 1
+                self.completed = False
+
+                message = pa.array(
+                    [
+                        {
+                            "action": "gimbal",
+                            "value": [0.0, goal_angle],
+                            "count": self.count,
+                        },
+                        {
+                            "value": [
+                                self.waypoints[0][0] - x,
+                                self.waypoints[0][1] - y,
+                                0.0,  # -goal_angle,
+                                0.6,
+                                0.0,  # 50,
+                            ],
+                            "action": "control",
+                        },
+                    ]
+                )
+                print("sending:", message, flush=True)
+                send_output(
+                    "control",
+                    message,
+                    dora_event["metadata"],
+                )
 
         return DoraStatus.CONTINUE

operators/policy.py

@@ -2,10 +2,10 @@ import numpy as np
 import pyarrow as pa
 from dora import DoraStatus
 from utils import ask_vlm, speak
+from time import sleep
 
-COUCH = np.array([[0.5, 0], [0.5, 0.5]]).ravel()
-KITCHEN = np.array([[0.5, 0.0], [1.0, -1.0]]).ravel()
-HOME = np.array([[0.5, 0.0], [0.0, 0.0]]).ravel()
+LIVING_ROOM = np.array([[1.0, 0.0]]).ravel()
+KITCHEN = np.array([[0.0, -0.2], [-1.0, -0.3], [-2.0, -0.5]]).ravel()
 
 
 ## Policy Operator
@@ -17,21 +17,15 @@ class Operator:
         text = ask_vlm(image, text)
         return "Yes, " in text
 
-    def on_event(self, dora_event: dict, send_output) -> DoraStatus:
-        if dora_event["type"] == "INPUT":
-            id = dora_event["id"]
+    def on_event(self, event: dict, send_output) -> DoraStatus:
+        if event["type"] == "INPUT":
+            id = event["id"]
             if id == "init":
-                send_output("go_to", pa.array(COUCH))
-            elif id == "goal_reached":
-                print("goal reached", flush=True)
-                image = dora_event["value"].to_numpy().reshape((540, 960, 3))
-                if self.ask_model(image, "Is there anyone with a bruise shirt?"):
-                    self.speak("I'm gonna go get coffee.")
-                    send_output("go_to", pa.array(KITCHEN))
-                    self.speak("I'm going to the kitchen.")
-                else:
-                    self.speak("There's no one with a bruise shirt.")
-                    send_output("go_to", pa.array(COUCH))
-                    self.speak("I'm going to the couch.")
-
+                send_output("go_to", pa.array([]))
+            elif id == "reached_living_room":
+                image = event["value"].to_numpy().reshape((540, 960, 3))
+                pass
+            elif id == "reached_kitchen":
+                image = event["value"].to_numpy().reshape((540, 960, 3))
+                pass
         return DoraStatus.CONTINUE