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bdaiinstitute · Apr 15, 2024 · afcba08 · afcba08
1 parent f64378f
commit afcba08
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Showing 2 changed files with 11 additions and 15 deletions.
diff --git a/predicators/ground_truth_models/spot_env/nsrts.py b/predicators/ground_truth_models/spot_env/nsrts.py
@@ -285,15 +285,10 @@ class SpotEnvsGroundTruthNSRTFactory(GroundTruthNSRTFactory):
     @classmethod
     def get_env_names(cls) -> Set[str]:
         return {
-            "spot_cube_env",
-            "spot_soda_floor_env",
-            "spot_soda_table_env",
-            "spot_soda_bucket_env",
-            "spot_soda_chair_env",
-            "spot_main_sweep_env",
-            "spot_ball_and_cup_sticky_table_env",
-            "spot_brush_shelf_env",
-            "lis_spot_block_floor_env"
+            "spot_cube_env", "spot_soda_floor_env", "spot_soda_table_env",
+            "spot_soda_bucket_env", "spot_soda_chair_env",
+            "spot_main_sweep_env", "spot_ball_and_cup_sticky_table_env",
+            "spot_brush_shelf_env", "lis_spot_block_floor_env"
         }
 
     @staticmethod

diff --git a/predicators/ground_truth_models/spot_env/options.py b/predicators/ground_truth_models/spot_env/options.py
@@ -364,8 +364,9 @@ def _grasp_policy(name: str,
         grasp_rot = math_helpers.Quat(params[2], params[3], params[4],
                                       params[5])
     # If the target object is reasonably large, don't try to stow!
-    target_obj_volume = state.get(target_obj, "height") * \
-                        state.get(target_obj, "length") * state.get(target_obj, "width")
+    target_obj_volume = (state.get(target_obj, "height") *
+                         state.get(target_obj, "length") *
+                         state.get(target_obj, "width"))
 
     do_stow = not do_dump and \
               target_obj_volume < CFG.spot_grasp_stow_volume_threshold
@@ -663,7 +664,7 @@ def _place_object_on_top_policy(state: State, memory: Dict,
             robot_pose.x, robot_pose.y) and surface_obj.name == "floor":
         # Note simulation fn and args not yet implemented.
         action_extra_info = SpotActionExtraInfo(name, objects, _drop_and_stow,
-                                                (robot,), None, tuple())
+                                                (robot, ), None, tuple())
         return utils.create_spot_env_action(action_extra_info)
 
     # If we're running on the actual robot, we want to be very precise
@@ -725,7 +726,7 @@ def _drop_not_placeable_object_policy(state: State, memory: Dict,
 
     # Note simulation fn and args not yet implemented.
     action_extra_info = SpotActionExtraInfo(name, objects,
-                                            _open_and_close_gripper, (robot,),
+                                            _open_and_close_gripper, (robot, ),
                                             None, tuple())
     return utils.create_spot_env_action(action_extra_info)
 
@@ -758,7 +759,7 @@ def _move_and_drop_object_inside_policy(state: State, memory: Dict,
     if surface_geom.contains_point(robot_pose.x, robot_pose.y):
         # Note simulation fn and args not yet implemented.
         action_extra_info = SpotActionExtraInfo(name, objects, _drop_and_stow,
-                                                (robot,), None, tuple())
+                                                (robot, ), None, tuple())
         return utils.create_spot_env_action(action_extra_info)
 
     # The dz parameter is with respect to the top of the container.
@@ -969,7 +970,7 @@ def __init__(self, operator_name: str, types: List[Type]) -> None:
         # and policies.
         if not CFG.bilevel_plan_without_sim:
             _OPERATOR_NAME_TO_PARAM_SPACE["PickObjectFromTop"] = Box(
-                0, 1, (0,))
+                0, 1, (0, ))
             _OPERATOR_NAME_TO_POLICY[
                 "PickObjectFromTop"] = _sim_safe_pick_object_from_top_policy
         params_space = _OPERATOR_NAME_TO_PARAM_SPACE[operator_name]