From 425bf31382e9dc2415facf1fdf696a2375a7397a Mon Sep 17 00:00:00 2001
From: Abhishek Kadian <abhishekkadiyan@gmail.com>
Date: Sun, 8 Sep 2019 14:28:45 -0700
Subject: [PATCH] black lint
---
habitat/sims/pyrobot/__init__.py | 2 +-
habitat/sims/pyrobot/pyrobot.py | 50 ++++++++++++++++++---------
habitat/tasks/nav/nav_task.py | 4 ++-
habitat/utils/visualizations/maps.py | 3 +-
habitat/utils/visualizations/utils.py | 3 +-
5 files changed, 41 insertions(+), 21 deletions(-)
diff --git a/habitat/sims/pyrobot/__init__.py b/habitat/sims/pyrobot/__init__.py
index 91bfd32df..0ee95858f 100644
--- a/habitat/sims/pyrobot/__init__.py
+++ b/habitat/sims/pyrobot/__init__.py
@@ -1,2 +1,2 @@
# TODO(akadian): come up with better module structure
-from habitat.sims.pyrobot.pyrobot import PyRobot
\ No newline at end of file
+from habitat.sims.pyrobot.pyrobot import PyRobot
diff --git a/habitat/sims/pyrobot/pyrobot.py b/habitat/sims/pyrobot/pyrobot.py
index ca1d48058..a4b2389a7 100644
--- a/habitat/sims/pyrobot/pyrobot.py
+++ b/habitat/sims/pyrobot/pyrobot.py
@@ -20,7 +20,8 @@ import numpy as np
# TODO(akadian): remove the below pyrobot hack
import sys
-ros_path = '/opt/ros/kinetic/lib/python2.7/dist-packages'
+
+ros_path = "/opt/ros/kinetic/lib/python2.7/dist-packages"
if ros_path in sys.path:
sys.path.remove(ros_path)
import cv2
@@ -41,12 +42,20 @@ class PyRobotRGBSensor(RGBSensor):
)
def get_observation(self, robot_obs):
- obs = robot_obs.get(self.uuid, None)
+ obs = robot_obs.get(self.uuid, None)
- assert obs is not None, "Invalid observation for {} sensor".format(self.uuid)
+ assert obs is not None, "Invalid observation for {} sensor".format(
+ self.uuid
+ )
if obs.shape != self.observation_space.shape:
- obs = cv2.resize(obs, (self.observation_space.shape[1], self.observation_space.shape[0]))
+ obs = cv2.resize(
+ obs,
+ (
+ self.observation_space.shape[1],
+ self.observation_space.shape[0],
+ ),
+ )
return obs
@@ -74,10 +83,18 @@ class PyRobotDepthSensor(DepthSensor):
def get_observation(self, robot_obs):
obs = robot_obs.get(self.uuid, None)
- assert obs is not None, "Invalid observation for {} sensor".format(self.uuid)
+ assert obs is not None, "Invalid observation for {} sensor".format(
+ self.uuid
+ )
if obs.shape != self.observation_space.shape:
- obs = cv2.resize(obs, (self.observation_space.shape[1], self.observation_space.shape[0]))
+ obs = cv2.resize(
+ obs,
+ (
+ self.observation_space.shape[1],
+ self.observation_space.shape[0],
+ ),
+ )
obs = np.clip(obs, self.config.MIN_DEPTH, self.config.MAX_DEPTH)
if self.config.NORMALIZE_DEPTH:
@@ -93,11 +110,11 @@ class PyRobotDepthSensor(DepthSensor):
class PyRobot(Simulator):
def __init__(self, config: Config) -> None:
self._config = config
-
+
robot_sensors = []
for sensor_name in self._config.SENSORS:
sensor_cfg = getattr(self._config, sensor_name)
- sensor_type = registry.get_sensor(sensor_cfg.TYPE)
+ sensor_type = registry.get_sensor(sensor_cfg.TYPE)
assert sensor_type is not None, "invalid sensor type {}".format(
sensor_cfg.TYPE
@@ -105,17 +122,16 @@ class PyRobot(Simulator):
robot_sensors.append(sensor_type(sensor_cfg))
self._sensor_suite = SensorSuite(robot_sensors)
- config_pyrobot = {
- "base_controller": self._config.BASE_CONTROLLER
- }
+ config_pyrobot = {"base_controller": self._config.BASE_CONTROLLER}
- assert self._config.ROBOT in self._config.ROBOTS, "Invalid robot type {}".format(self._config.ROBOT)
- self._robot_config = getattr(
- self._config,
- self._config.ROBOT.upper()
- )
+ assert (
+ self._config.ROBOT in self._config.ROBOTS
+ ), "Invalid robot type {}".format(self._config.ROBOT)
+ self._robot_config = getattr(self._config, self._config.ROBOT.upper())
- self._robot = pyrobot.Robot(self._config.ROBOT, base_config=config_pyrobot)
+ self._robot = pyrobot.Robot(
+ self._config.ROBOT, base_config=config_pyrobot
+ )
def _degree_to_radian(self, degrees):
return (degrees / 180) * np.pi
diff --git a/habitat/tasks/nav/nav_task.py b/habitat/tasks/nav/nav_task.py
index 0c67b8c7a..f0bce6488 100644
--- a/habitat/tasks/nav/nav_task.py
+++ b/habitat/tasks/nav/nav_task.py
@@ -7,9 +7,11 @@
from typing import Any, List, Optional, Type
import attr
+
# TODO(akadian): remove the below pyrobot hack
import sys
-ros_path = '/opt/ros/kinetic/lib/python2.7/dist-packages'
+
+ros_path = "/opt/ros/kinetic/lib/python2.7/dist-packages"
if ros_path in sys.path:
sys.path.remove(ros_path)
import cv2
diff --git a/habitat/utils/visualizations/maps.py b/habitat/utils/visualizations/maps.py
index a46f4e695..fc87e26ec 100644
--- a/habitat/utils/visualizations/maps.py
+++ b/habitat/utils/visualizations/maps.py
@@ -9,7 +9,8 @@ from typing import List, Optional, Tuple
# TODO(akadian): remove the below pyrobot hack
import sys
-ros_path = '/opt/ros/kinetic/lib/python2.7/dist-packages'
+
+ros_path = "/opt/ros/kinetic/lib/python2.7/dist-packages"
if ros_path in sys.path:
sys.path.remove(ros_path)
import cv2
diff --git a/habitat/utils/visualizations/utils.py b/habitat/utils/visualizations/utils.py
index 687558a1f..d42491dea 100644
--- a/habitat/utils/visualizations/utils.py
+++ b/habitat/utils/visualizations/utils.py
@@ -9,7 +9,8 @@ from typing import Dict, List, Optional, Tuple
# TODO(akadian): remove the below pyrobot hack
import sys
-ros_path = '/opt/ros/kinetic/lib/python2.7/dist-packages'
+
+ros_path = "/opt/ros/kinetic/lib/python2.7/dist-packages"
if ros_path in sys.path:
sys.path.remove(ros_path)
import cv2
--
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