From 98a40413b8e631c79dcb0aa2bee117899b0a4bd4 Mon Sep 17 00:00:00 2001 From: Ashay Athalye Date: Fri, 20 Sep 2024 16:33:04 -0400 Subject: [PATCH] Push latest code. --- predicators/perception/spot_perceiver.py | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/predicators/perception/spot_perceiver.py b/predicators/perception/spot_perceiver.py index ef9f3a5bc..aefbab79c 100644 --- 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")