fix tests

Learning-and-Intelligent-Systems · Dec 27, 2024 · 5a1ec62 · 5a1ec62
1 parent a8c2df0
commit 5a1ec62
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Showing 6 changed files with 193 additions and 373 deletions.
diff --git a/predicators/envs/coffee.py b/predicators/envs/coffee.py
@@ -761,7 +761,8 @@ def _get_jug_handle_grasp(cls, state: State,
         # Orient pointing down.
         rot = state.get(jug, "rot") - np.pi / 2
         target_x = state.get(jug, "x") + np.cos(rot) * cls.jug_handle_offset
-        target_y = state.get(jug, "y") + np.sin(rot) * cls.jug_handle_offset - 0.02
+        target_y = state.get(jug,
+                             "y") + np.sin(rot) * cls.jug_handle_offset - 0.02
         if not CFG.coffee_use_pixelated_jug:
             target_y += 0.02
         target_z = cls.z_lb + cls.jug_handle_height()

diff --git a/predicators/envs/pybullet_coffee.py b/predicators/envs/pybullet_coffee.py
@@ -469,9 +469,11 @@ def _reset_state(self, state: State) -> None:
             logging.debug(reconstructed_state.pretty_str())
             raise ValueError("Could not reconstruct state.")
 
-    def _get_state(self, render_obs:bool=False) -> State:
+    def _get_state(self, render_obs: bool = False) -> State:
         """Create a State instance based on the current PyBullet state.
-        Called in step() and reset()."""
+
+        Called in step() and reset().
+        """
         state_dict = {}
 
         # Get robot state.