From 6db3fbe840a977680a3c0539908346c28f629e2a Mon Sep 17 00:00:00 2001 From: Linfeng Date: Fri, 10 May 2024 18:17:23 -0400 Subject: [PATCH] minor --- predicators/envs/spot_env.py | 2 ++ predicators/spot_utils/skills/spot_find_objects.py | 1 + 2 files changed, 3 insertions(+) diff --git a/predicators/envs/spot_env.py b/predicators/envs/spot_env.py index 0978657ffb..919ea590f0 100644 --- a/predicators/envs/spot_env.py +++ b/predicators/envs/spot_env.py @@ -1260,6 +1260,8 @@ def _fits_in_xy_classifier(state: State, objects: Sequence[Object]) -> bool: for obj in objects: obj_geom = object_to_top_down_geom(obj, state) if isinstance(obj_geom, utils.Rectangle): + # DEBUG check default value - why radius not None by default? + # DEBUG fix the value if obj is contained: radius = max(obj_geom.width / 2, obj_geom.height / 2) else: diff --git a/predicators/spot_utils/skills/spot_find_objects.py b/predicators/spot_utils/skills/spot_find_objects.py index fb7083cffb..ce5c5ec2e2 100644 --- a/predicators/spot_utils/skills/spot_find_objects.py +++ b/predicators/spot_utils/skills/spot_find_objects.py @@ -11,6 +11,7 @@ from bosdyn.client.math_helpers import SE3Pose from bosdyn.client.sdk import Robot from scipy.spatial import Delaunay +from rich import print from predicators import utils from predicators.spot_utils.perception.object_detection import detect_objects