cfg_voxposer.yaml

lmps:
  planner:
    prompt_path: VoxPoserApiExamples/Real/planner/real_planner_prompt.py
    model: gpt-4
    max_tokens: 1024
    temperature: 0
    query_prefix: '# Query: '
    query_suffix: '.'
    stop: ['#', 'objects = [']
    maintain_session: True
    debug_mode: False
    include_context: True
    has_return: False
    return_val_name: ret_val
  composer:
    prompt_path: VoxPoserApiExamples/Real/composer/real_composer_prompt.py
    model: gpt-4
    max_tokens: 1024
    temperature: 0
    query_prefix: '# Query: '
    query_suffix: '.'
    stop: ['#', 'objects = [']
    maintain_session: False
    debug_mode: False
    include_context: True
    has_return: False
    return_val_name: ret_val
  get_affordance_map:
    prompt_path: VoxPoserApiExamples/Real/value_maps/real_get_affordance_map_prompt.py
    model: gpt-4
    max_tokens: 512
    temperature: 0
    query_prefix: '# Query: '
    query_suffix: '.'
    stop: ['#']
    maintain_session: False
    debug_mode: True
    include_context: True
    has_return: True
    return_val_name: ret_val
  get_avoidance_map:
    prompt_path: VoxPoserApiExamples/Real/value_maps/real_get_avoidance_map_prompt.py
    model: gpt-4
    max_tokens: 512
    temperature: 0
    query_prefix: '# Query: '
    query_suffix: '.'
    stop: ['#', 'objects = [']
    maintain_session: False
    debug_mode: True
    include_context: True
    has_return: True
    return_val_name: ret_val
  get_gripper_map:
    prompt_path: VoxPoserApiExamples/Real/value_maps/real_get_gripper_map_prompt.py
    model: gpt-4
    max_tokens: 512
    temperature: 0
    query_prefix: '# Query: '
    query_suffix: '.'
    stop: ['#']
    maintain_session: False
    debug_mode: True
    include_context: True
    has_return: True
    return_val_name: new_shape_pts
  get_rotation_map:
    prompt_path: VoxPoserApiExamples/Real/value_maps/real_get_rotation_map_prompt.py
    model: gpt-4
    max_tokens: 512
    temperature: 0
    query_prefix: '# define function: '
    query_suffix: '.'
    stop: ['# define', '# example']
    maintain_session: False
    debug_mode: True
    include_context: True
    has_return: True
  get_velocity_map:
    prompt_path: VoxPoserApiExamples/Real/value_maps/real_get_velocity_map_prompt.py
    model: gpt-4
    max_tokens: 512
    temperature: 0
    query_prefix: '# define function: '
    query_suffix: '.'
    stop: ['# define', '# example']
    maintain_session: False
    debug_mode: True
    include_context: True
    has_return: True
  fgen:
    prompt_path: prompts/fgen.py
    engine: gpt-4
    max_tokens: 512
    temperature: 0
    query_prefix: '# define function: '
    query_suffix: '.'
    stop: ['# define', '# example']
    maintain_session: False
    debug_mode: False
    include_context: True

tabletop_coords:
  top_left: [-0.25, -0.25]
  top_side: [0, -0.25]
  top_right: [0.25, -0.25]
  left_side: [-0.25, -0.5]
  middle: [0, -0.5]
  right_side: [0.25, -0.5]
  bottom_left: [-0.25, -0.75]
  bottom_side: [0, -0.75]
  bottom_right: [0.25, -0.75]
  table_z: 0