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bdaiinstitute · Sep 20, 2024 · 98a4041 · 98a4041
1 parent 7298b93
commit 98a4041
Showing 1 changed file with 11 additions and 11 deletions.
diff --git a/predicators/perception/spot_perceiver.py b/predicators/perception/spot_perceiver.py
@@ -658,25 +658,25 @@ def _create_goal(self, state: State,
                 # GroundAtom(VLMOn, [cup, pan])
             }
             return goal
-        # if goal_description == "put the mess in the dustpan":
-        #     robot = Object("robot", _robot_type)
-        #     dustpan = Object("dustpan", _dustpan_type)
-        #     wrappers = Object("wrappers", _wrappers_type)
-        #     goal = {
-        #         GroundAtom(Inside, [wrappers, dustpan]),
-        #         GroundAtom(Holding, [robot, dustpan])
-        #     }
-        #     return goal
-
         if goal_description == "put the mess in the dustpan":
             robot = Object("robot", _robot_type)
             dustpan = Object("dustpan", _dustpan_type)
             wrappers = Object("wrappers", _wrappers_type)
             goal = {
-                # GroundAtom(Inside, [wrappers, dustpan]),
+                GroundAtom(Inside, [wrappers, dustpan]),
                 GroundAtom(Holding, [robot, dustpan])
             }
             return goal
+
+        # if goal_description == "put the mess in the dustpan":
+        #     robot = Object("robot", _robot_type)
+        #     dustpan = Object("dustpan", _dustpan_type)
+        #     wrappers = Object("wrappers", _wrappers_type)
+        #     goal = {
+        #         # GroundAtom(Inside, [wrappers, dustpan]),
+        #         GroundAtom(Holding, [robot, dustpan])
+        #     }
+        #     return goal
 
         raise NotImplementedError("Unrecognized goal description")