From f64378f67df30f9cdda015aad56dcc10959339e8 Mon Sep 17 00:00:00 2001 From: Linfeng Date: Mon, 15 Apr 2024 17:32:04 -0400 Subject: [PATCH] fixing format --- predicators/envs/spot_env.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/predicators/envs/spot_env.py b/predicators/envs/spot_env.py index 2103b86abe..b13ac035dd 100644 --- a/predicators/envs/spot_env.py +++ b/predicators/envs/spot_env.py @@ -1200,9 +1200,9 @@ def in_general_view_classifier(state: State, def _obj_reachable_from_spot_pose(spot_pose: math_helpers.SE3Pose, obj_position: math_helpers.Vec3) -> bool: - is_xy_near = np.sqrt( - (spot_pose.x - obj_position.x)**2 + - (spot_pose.y - obj_position.y)**2) <= _REACHABLE_THRESHOLD + is_xy_near = np.sqrt((spot_pose.x - obj_position.x)**2 + + (spot_pose.y - + obj_position.y)**2) <= _REACHABLE_THRESHOLD # Compute angle between spot's forward direction and the line from # spot to the object. @@ -3033,6 +3033,7 @@ def _get_dry_task(self, train_or_test: str, # LIS Test Block Floor # ############################################################################### + class LISSpotBlockFloorEnv(SpotRearrangementEnv): """An extremely basic environment where a block needs to be picked up and is specifically used for testing in the LIS Spot room. @@ -3063,8 +3064,7 @@ def _detection_id_to_obj(self) -> Dict[ObjectDetectionID, Object]: red_block = Object("red_block", _movable_object_type) red_block_detection = LanguageObjectDetectionID( - "red block/orange block/yellow block" - ) + "red block/orange block/yellow block") detection_id_to_obj[red_block_detection] = red_block for obj, pose in get_known_immovable_objects().items():