formatting

predicators/envs/spot_env.py

@@ -18,10 +18,9 @@
 from bosdyn.client.sdk import Robot
 from bosdyn.client.util import authenticate, setup_logging
 from gym.spaces import Box
-from predicators.utils import log_rich_table
-from scipy.spatial import Delaunay
-from rich.table import Table
 from rich import print
+from rich.table import Table
+from scipy.spatial import Delaunay
 
 from predicators import utils
 from predicators.envs import BaseEnv
@@ -55,6 +54,7 @@
     GroundAtom, LiftedAtom, Object, Observation, Predicate, \
     SpotActionExtraInfo, State, STRIPSOperator, Type, Variable, \
     VLMGroundAtom, VLMPredicate
+from predicators.utils import log_rich_table
 
 ###############################################################################
 #                                Base Class                                   #
@@ -757,11 +757,11 @@ def _build_realworld_observation(
             objects = list(all_objects_in_view.keys())
             vlm_atoms = get_vlm_atom_combinations(objects, vlm_predicates)
             vlm_atom_new: Dict[VLMGroundAtom,
-                                bool or None] = vlm_predicate_batch_classify(
-                                    vlm_atoms,
-                                    rgbds,
-                                    predicates=vlm_predicates,
-                                    get_dict=True)
+                               bool or None] = vlm_predicate_batch_classify(
+                                   vlm_atoms,
+                                   rgbds,
+                                   predicates=vlm_predicates,
+                                   get_dict=True)
 
             # Update VLM atom value if the new ground atom value is not None
             # Otherwise, use the value in current obs
@@ -785,19 +785,17 @@ def _build_realworld_observation(
             table_compare.add_column("Atom", style="cyan")
             table_compare.add_column("Value (Last)", style="blue")
             table_compare.add_column("Value (New)", style="magenta")
-            vlm_atom_union = set(vlm_atom_new.keys()) | set(curr_obs.vlm_atom_dict.keys())
+            vlm_atom_union = set(vlm_atom_new.keys()) | set(
+                curr_obs.vlm_atom_dict.keys())
             for atom in vlm_atom_union:
                 table_compare.add_row(
-                    str(atom),
-                    str(curr_obs.vlm_atom_dict.get(atom, None)),
-                    str(vlm_atom_new.get(atom, None))
-                )
+                    str(atom), str(curr_obs.vlm_atom_dict.get(atom, None)),
+                    str(vlm_atom_new.get(atom, None)))
             logging.info(log_rich_table(table_compare))
 
             logging.info(
                 f"True VLM atoms (after updated with current obs): "
-                f"{dict(filter(lambda it: it[1], vlm_atom_return.items()))}"
-            )
+                f"{dict(filter(lambda it: it[1], vlm_atom_return.items()))}")
 
         else:
             vlm_predicates = set()

predicators/spot_utils/perception/object_perception.py

@@ -190,7 +190,9 @@ def vlm_predicate_batch_classify(
     if len(queries) == 0:
         return {}
 
-    queries_print = [atom.get_query_str(include_prompt=False) for atom in atoms]
+    queries_print = [
+        atom.get_query_str(include_prompt=False) for atom in atoms
+    ]
     logging.info(f"VLM predicate evaluation queries: {queries_print}")
 
     # Call VLM to evaluate the queries

predicators/spot_utils/skills/spot_find_objects.py

@@ -120,10 +120,8 @@ def _find_objects_with_choreographed_moves(
 
     # Logging
     print(f"Calculated VLM atoms (in all views): {dict(all_vlm_atom_dict)}")
-    print(
-        f"True VLM atoms (in all views; with values as True): "
-        f"{dict(filter(lambda it: it[1], all_vlm_atom_dict.items()))}"
-    )
+    print(f"True VLM atoms (in all views; with values as True): "
+          f"{dict(filter(lambda it: it[1], all_vlm_atom_dict.items()))}")
 
     table = Table(title="Evaluated VLM atoms (in all views)")
     table.add_column("Atom", style="cyan")

predicators/structs.py

@@ -472,7 +472,9 @@ class VLMGroundAtom(GroundAtom):
     # NOTE: This subclasses GroundAtom to support VLM predicates and classifiers
     predicate: VLMPredicate
 
-    def get_query_str(self, without_type: bool = False, include_prompt: bool = True) -> str:
+    def get_query_str(self,
+                      without_type: bool = False,
+                      include_prompt: bool = True) -> str:
         """Get a query string for this ground atom.
 
         Instead of directly evaluating the ground atom, we will use the

predicators/utils.py

@@ -42,17 +42,17 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import pathos.multiprocessing as mp
+import rich.table
 from bosdyn.client import math_helpers
 from gym.spaces import Box
 from matplotlib import patches
 from numpy.typing import NDArray
 from pyperplan.heuristics.heuristic_base import \
     Heuristic as _PyperplanBaseHeuristic
 from pyperplan.planner import HEURISTICS as _PYPERPLAN_HEURISTICS
-from scipy.stats import beta as BetaRV
-import rich.table
 from rich.console import Console
 from rich.text import Text
+from scipy.stats import beta as BetaRV
 
 from predicators.args import create_arg_parser
 from predicators.pybullet_helpers.joint import JointPositions
@@ -3869,8 +3869,9 @@ def run_ground_nsrt_with_assertions(ground_nsrt: _GroundNSRT,
 
 
 def log_rich_table(rich_table: rich.table.Table) -> "Texssas":
-    """Generate an ascii formatted presentation of a Rich table
-    Eliminates any column styling
+    """Generate an ascii formatted presentation of a Rich table.
+
+    Eliminates any column styling.
     """
     console = Console(width=150)
     with console.capture() as capture: