From d6eafc5487e7b38b5f0b229fac6e3bfb22eb3c68 Mon Sep 17 00:00:00 2001 From: Tom Silver Date: Fri, 25 Aug 2023 12:49:29 -0400 Subject: [PATCH] sigh --- predicators/ground_truth_models/spot/nsrts.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/predicators/ground_truth_models/spot/nsrts.py b/predicators/ground_truth_models/spot/nsrts.py index 12fe1ec0db..b72c004782 100644 --- a/predicators/ground_truth_models/spot/nsrts.py +++ b/predicators/ground_truth_models/spot/nsrts.py @@ -26,9 +26,9 @@ def _move_sampler(spot_interface: _SpotInterface, state: State, assert len(objs) in [2, 3, 4] dyaw = 0.0 # For MoveToObjOnFloor - if objs[1].name == "toolbag" or objs[1].name == "platform" or (len(objs) == 3 + if objs[1].name in ["toolbag", "extra_room_table_left"] or objs[1].name == "platform" or (len(objs) == 3 and objs[-1].name != "platform"): - if objs[1].name == "toolbag" or objs[1].name == "platform" or objs[2].name == "floor": + if objs[1].name in ["toolbag", "extra_room_table_left"] or objs[1].name == "platform" or objs[2].name == "floor": # Sample dyaw so that there is some hope of seeing objects from # different angles. dyaw = rng.uniform(-np.pi / 8, np.pi / 8)