minor updates

README.md

@@ -52,3 +52,4 @@ Note object names may need to be changed depending the sampled object names.
 * Currently, the low-level pick place primitive does not do collision checking, so if there are many objects on the table, placing actions may incur collisions.
 * Prompt saturation - if too many instructions (10+) are executed in a row, then the LLM may start to ignore examples in the early parts of the prompt.
 * Ambiguous instructions - if a given instruction doesn't lead to the desired actions, try rephrasing it to remove ambiguities (e.g. place the block on the closest bowl -> place the block on its closest bowl)
+* Maximum token length - you may hit the maximum token length if running multiple commands in sequence. Please reset the simulation when this happens.

app.py

@@ -127,7 +127,7 @@ if __name__ == '__main__':
         with gr.Row():
             with gr.Column():
                 with gr.Row():
-                    inp_api_key = gr.Textbox(label='OpenAI API Key', lines=1)
+                    inp_api_key = gr.Textbox(label='OpenAI API Key (this is not stored anywhere)', lines=1)
                     inp_model_name = gr.Dropdown(label='Model Name', choices=['code-davinci-002', 'text-davinci-002'], value='code-davinci-002')
                 with gr.Row():
                     inp_n_blocks = gr.Slider(label='Number of Blocks', minimum=0, maximum=4, value=3, step=1)
@@ -142,7 +142,7 @@ if __name__ == '__main__':
             with gr.Column():
                 
                 inp_instruction = gr.Textbox(label='Instruction', lines=1) 
-                btn_run = gr.Button("Run Instruction")
+                btn_run = gr.Button("Run (this may take 20+ seconds)")
                 info_run = gr.Markdown(label='Generated Code')
             with gr.Column():
                 video_run = gr.Video(label='Video of Last Instruction')

prompts/tabletop_ui.py

@@ -48,11 +48,6 @@ right_side = parse_position('the right side')
 put_first_on_second('gray block', right_side)
 order_bottom_to_top = ['gray block', 'green block', 'yellow block']
 stack_objects_in_order(object_names=order_bottom_to_top)
-objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl']
-# hide the blue bowl.
-bowl_name = np.random.choice(['yellow bowl', 'green bowl'])
-say(f'Sounds good! Hiding the blue bowl under the {bowl_name}')
-put_first_on_second(bowl_name, 'blue bowl')
 objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl']
 # stack everything with the green block on top.
 say('Ok! Stacking everything with the green block on the top')