Automatic style fix for droidlet

droidlet/dialog/post_process_logical_form.py

@@ -3,6 +3,7 @@
 """
 import copy
 
+
 # move location inside reference_object for Fill and Destroy actions
 def fix_fill_and_destroy_location(action_dict):
     action_name = action_dict["action_type"]

droidlet/interpreter/craftassist/block_handler.py

@@ -5,6 +5,7 @@
 import random
 import Levenshtein
 
+
 # TODO FILTERS!
 def get_block_type(s, block_data_info, color_bid_map) -> Tuple:
     """string -> (id, meta)

droidlet/interpreter/craftassist/tasks.py

@@ -214,7 +214,7 @@ def step(self):
         # replace blocks if possible
         R = self.replace.copy()
         self.replace.clear()
-        for (pos, idm) in R:
+        for pos, idm in R:
             agent.set_held_item(idm)
             if agent.place_block(*pos):
                 logging.debug("Move: replaced {}".format((pos, idm)))
@@ -254,7 +254,7 @@ def handle_no_path(self, agent):
                 x, y, z = newpos
                 newpos_blocks = agent.get_blocks(x, x, y, y + 1, z, z)
                 # dig if necessary
-                for (bp, idm) in npy_to_blocks_list(newpos_blocks, newpos):
+                for bp, idm in npy_to_blocks_list(newpos_blocks, newpos):
                     self.replace.add((bp, idm))
                     agent.dig(*bp)
                 # move

droidlet/interpreter/interpret_comparators.py

@@ -7,6 +7,7 @@
 from droidlet.memory.memory_values import FilterValue
 from droidlet.memory.memory_attributes import ComparatorAttribute
 
+
 # TODO distance between
 # TODO make this more modular.  what if we want to redefine just distance_between in a new agent?
 def interpret_comparator(interpreter, speaker, d, is_condition=True):

droidlet/interpreter/interpret_reference_objects.py

@@ -187,7 +187,6 @@ def interpret_reference_object(
     _, clarification_task_mems = interpreter.memory.basic_search(clarification_query)
     # does a clarification task referencing this interpreter exist?
     if not clarification_task_mems:
-
         mems = maybe_get_text_span_mems(interpreter, speaker, d)
         if mems:
             update_attended_and_link_lf(interpreter, mems)

droidlet/interpreter/robot/default_behaviors.py

@@ -42,6 +42,7 @@ def init_logger():
 
 init_logger()
 
+
 # TODO: Move these utils to a suitable place - as a class method in TripleNode
 def add_or_replace(agent, pred_text, obj_text):
     memids, _ = agent.memory.basic_search(f"SELECT uuid FROM Triple WHERE pred_text={pred_text}")

droidlet/interpreter/robot/task.py

@@ -1,6 +1,8 @@
 """
 Copyright (c) Facebook, Inc. and its affiliates.
 """
+
+
 # put a counter and a max_count so can't get stuck?
 class Task(object):
     def __init__(self, featurizer=None):

droidlet/interpreter/robot/tasks.py

@@ -468,6 +468,7 @@ def step(self):
             # Get a list of current detections
             objects = DetectedObjectNode.get_all(self.agent.memory)
             pos = self.agent.mover.get_base_pos_in_canonical_coords()
+
             # pick all from unexamined, in-sight object
             def pick_random_in_sight(objects, base_pos):
                 for x in objects:

droidlet/lowlevel/hello_robot/remote/record_aggregate_metrics_and_videos.py

@@ -94,7 +94,7 @@ def record_video(image_filenames, image_timestamps, video_filename, fps=30, real
     out = cv2.VideoWriter(video_filename, cv2.VideoWriter_fourcc(*"mp4v"), fps, size)
     if realtime:
         prev_timestamp = 0
-        for (timestamp, image) in zip(image_timestamps, images):
+        for timestamp, image in zip(image_timestamps, images):
             frame_repeats = round((timestamp - prev_timestamp) * fps)
             for _ in range(frame_repeats):
                 out.write(image)

droidlet/lowlevel/hello_robot/remote/remote_hello_saver.py

@@ -36,7 +36,6 @@ def return_paths(self, id_):
         return img_folder, img_folder_dbg, depth_folder, lidar_folder, data_file
 
     def create_dirs(self, id_):
-
         img_folder, img_folder_dbg, depth_folder, lidar_folder, data_file = self.return_paths(id_)
 
         for x in [img_folder, img_folder_dbg, depth_folder, lidar_folder]:

droidlet/lowlevel/hello_robot/remote/stretch_ros_move_api.py

@@ -133,7 +133,6 @@ def stop(self):
         return result
 
     def background_loop(self):
-
         rospy.Subscriber(
             "/stretch/joint_states", JointState, self._joint_states_callback, queue_size=1
         )

droidlet/lowlevel/hello_robot/remote/utils.py

@@ -65,7 +65,6 @@ def is_obstacle_ahead(dist, depth_fn):
 
     # Check if a significantly large obstacle is present and filter out smaller noisy regions
     if np.sum(mask) / 255.0 > 0.01 * mask.shape[0] * mask.shape[1]:
-
         image_gray = cv2.cvtColor(cv2.bitwise_and(rgb, rgb, mask=mask), cv2.COLOR_BGR2GRAY)
         edges = cv2.Canny(image_gray, 100, 200)
         edges = cv2.dilate(edges, None)

droidlet/lowlevel/locobot/remote/policy/utils/model.py

@@ -26,7 +26,6 @@ def forward(self, x):
 # https://github.com/ikostrikov/pytorch-a2c-ppo-acktr-gail/blob/master/a2c_ppo_acktr/model.py#L82
 class NNBase(nn.Module):
     def __init__(self, recurrent, recurrent_input_size, hidden_size):
-
         super(NNBase, self).__init__()
         self._hidden_size = hidden_size
         self._recurrent = recurrent

droidlet/lowlevel/locobot/remote/pyrobot/habitat/base_control_utils.py

@@ -25,7 +25,6 @@ class LocalActionServer(object):
     """docstring for LocalActionServer"""
 
     def __init__(self):
-
         self._lock = threading.RLock()
         self._state = LocalActionStatus.UNKOWN
 

droidlet/lowlevel/minecraft/pyworld/run_world.py

@@ -52,7 +52,6 @@ def block_generator(world):
 
 
 if __name__ == "__main__":
-
     ticker = Ticker(tick_rate=0.01, step_rate=0.2, ip="localhost", port=6002)
     ticker_thread = Thread(target=ticker.start, args=())
     ticker_thread.start()

droidlet/lowlevel/minecraft/pyworld/world.py

@@ -242,7 +242,7 @@ def blocks_to_dict(self):
     def get_idm_at_locs(self, xyzs: Sequence[XYZ]) -> Dict[XYZ, IDM]:
         """Return the ground truth block state"""
         d = {}
-        for (x, y, z) in xyzs:
+        for x, y, z in xyzs:
             B = self.get_blocks(x, x, y, y, z, z)
             d[(x, y, z)] = tuple(B[0, 0, 0, :])
         return d

droidlet/lowlevel/minecraft/small_scenes_with_shapes.py

@@ -265,7 +265,6 @@ def build_shape_scene(args):
     fence = getattr(args, "fence", False)
     blocks = build_base_world(args.SL, args.H, args.GROUND_DEPTH, fence=fence)
     if args.iglu_scenes:
-
         with open(args.iglu_scenes, "rb") as f:
             assets = pickle.load(f)
             sid = np.random.choice(list(assets.keys()))

droidlet/lowlevel/test/test_transforms3d.py

@@ -71,5 +71,4 @@ def test_open3d_pcd_transform(self):
 
 
 if __name__ == "__main__":
-
     unittest.main()

droidlet/memory/craftassist/mc_attributes.py

@@ -3,6 +3,7 @@
 """
 from droidlet.memory.memory_filters import Attribute
 
+
 # TODO sqlize these?
 # FIXME!!!!! rn this will not accurately count voxels in
 # InstSeg objects with given properties;

droidlet/memory/craftassist/mc_memory.py

@@ -290,7 +290,7 @@ def update(self, perception_output: namedtuple = None, areas_to_perceive: List =
 
         # 5. Update the state of the world when a block is changed.
         if perception_output.changed_block_attributes:
-            for (xyz, idm) in perception_output.changed_block_attributes:
+            for xyz, idm in perception_output.changed_block_attributes:
                 # 5.1 Update old instance segmentation if needed
                 self.maybe_remove_inst_seg(xyz)
 
@@ -642,7 +642,7 @@ def _load_mob_types(self, mobs, mob_property_data, load_mob_types=True):
             return
 
         mob_name_to_properties = mob_property_data.get("name_to_properties", {})
-        for (name, m) in mobs.items():
+        for name, m in mobs.items():
             type_name = "spawn " + name
 
             # load single mob as schematics

droidlet/memory/craftassist/mc_memory_nodes.py

@@ -723,7 +723,7 @@ def create(cls, memory, blocks: Sequence[Block]) -> str:
             >>> create(memory, blocks)
         """
         memid = cls.new(memory)
-        for ((x, y, z), (b, m)) in blocks:
+        for (x, y, z), (b, m) in blocks:
             memory.db_write(
                 """
                     INSERT INTO Schematics(uuid, x, y, z, bid, meta)

droidlet/memory/memory_filters.py

@@ -13,6 +13,7 @@
 ### in various filter interpreters
 ####################################################################################
 
+
 # attribute has function signature list(mems) --> list(value)
 class Attribute:
     def __init__(self, memory):

droidlet/memory/place_field.py

@@ -116,7 +116,7 @@ def sync_traversible(self, locs, h=0):
         # overwrite traversibility map from slam service
         self.maps[h]["map"][:] = 0
         self.maps[h]["updated"][:] = self.get_time()
-        for (x, z) in locs:
+        for x, z in locs:
             i, j = self.real2map(x, z, h)
             s = max(i - self.map_size + 1, j - self.map_size + 1, -i, -j)
             if s > 0:

droidlet/perception/craftassist/low_level_perception.py

@@ -104,7 +104,7 @@ def perceive(self, force=False):
         )
         # Changed blocks and their attributes
         perceive_info["changed_block_attributes"] = {}
-        for (xyz, idm) in self.agent.safe_get_changed_blocks():
+        for xyz, idm in self.agent.safe_get_changed_blocks():
             interesting, player_placed, agent_placed = self.on_block_changed(
                 xyz, idm, boring_blocks
             )

droidlet/perception/craftassist/shape_transforms.py

@@ -83,6 +83,7 @@ def moment_at_center(npy, sl):
 ## THICKEN
 #############################################
 
+
 # this doesn't preserve corners.  should it?
 # separate deltas per dim?
 def thicker_blocks(blocks, delta=1):
@@ -198,7 +199,7 @@ def scale_sparse(blocks, lams=(1.0, 1.0, 1.0)):
     cell_szs = szs / big_szs
     big_szs = big_szs.astype("int32")
     big = np.zeros(tuple(big_szs) + (2,)).astype("int32")
-    for (x, y, z) in inp_dict.keys():
+    for x, y, z in inp_dict.keys():
         for i in range(flint(x * lams[0]), ceint(x * lams[0]) + 2):
             for j in range(flint(y * lams[1]), ceint(y * lams[1]) + 2):
                 for k in range(flint(z * lams[2]), ceint(z * lams[2]) + 2):

droidlet/perception/craftassist/voxel_models/detection-transformer/datasets/coco.py

@@ -138,7 +138,6 @@ def get_in_coco_format(self, idx):
 
 
 def make_coco_transforms(image_set):
-
     normalize = T.Compose(
         [T.ToTensor(), T.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225])]
     )

droidlet/perception/craftassist/voxel_models/detection-transformer/datasets/coco_panoptic.py

@@ -78,7 +78,6 @@ def get_height_and_width(self, idx):
 
 
 def make_coco_panoptic_transforms(image_set):
-
     normalize = T.Compose(
         [
             T.ToTensor(),

droidlet/perception/craftassist/voxel_models/detection-transformer/datasets/house.py

@@ -81,6 +81,7 @@ def pad_to_sidelength(schematic, labels=None, nothing_id=0, sidelength=32):
 
 # TODO cut outliers
 
+
 # TODO simplify
 def fit_in_sidelength(schematic, labels=None, nothing_id=0, sl=32, max_shift=0):
     schematic, labels = pad_to_sidelength(
@@ -104,7 +105,6 @@ def fit_in_sidelength(schematic, labels=None, nothing_id=0, sl=32, max_shift=0):
 
 
 def make_example_from_raw(schematic, labels=None, augment={}, nothing_id=0, sl=32):
-
     max_shift = augment.get("max_shift", 0)
     s, l, o = fit_in_sidelength(
         schematic, labels=labels, nothing_id=nothing_id, max_shift=max_shift

droidlet/perception/craftassist/voxel_models/detection-transformer/datasets/lvis.py

@@ -270,7 +270,6 @@ def get_in_coco_format(self, idx):
 
 
 def make_lvis_transforms(image_set):
-
     normalize = T.Compose(
         [T.ToTensor(), T.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225])]
     )

droidlet/perception/craftassist/voxel_models/detection-transformer/datasets/voc.py

@@ -32,7 +32,6 @@ def get_in_coco_format(self, idx: int):
 
 
 def make_voc_transforms(image_set, remove_difficult):
-
     normalize = T.Compose(
         [T.ToTensor(), T.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225])]
     )

droidlet/perception/craftassist/voxel_models/detection-transformer/models/semseg.py

@@ -100,7 +100,6 @@ def fit_in_sidelength(schematic, labels=None, nothing_id=0, sl=32, max_shift=0):
 
 
 def make_example_from_raw(schematic, labels=None, augment={}, nothing_id=0, sl=32):
-
     max_shift = augment.get("max_shift", 0)
     s, l, o = fit_in_sidelength(
         schematic, labels=labels, nothing_id=nothing_id, max_shift=max_shift

droidlet/perception/craftassist/voxel_models/semantic_segmentation/data_loaders.py

@@ -83,6 +83,7 @@ def pad_to_sidelength(schematic, labels=None, nothing_id=0, sidelength=32):
 
 # TODO cut outliers
 
+
 # TODO simplify
 def fit_in_sidelength(schematic, labels=None, nothing_id=0, sl=32, max_shift=0):
     """Adjust schematics to the center of the padded one"""

droidlet/perception/robot/handlers/label_propagate.py

@@ -21,6 +21,7 @@
 CAMERA_HEIGHT = 0.6
 trans = np.array([0, 0, CAMERA_HEIGHT])
 
+
 # TODO: Consolidate camera intrinsics and their associated utils across locobot and habitat.
 def compute_uvone(height, width):
     intrinsic_mat_inv = np.linalg.inv(intrinsic_mat)

droidlet/perception/semantic_parsing/load_and_check_datasets.py

@@ -8,7 +8,7 @@ def get_ground_truth(no_ground_truth, ground_truth_data_dir):
     if not no_ground_truth:
         if os.path.isdir(ground_truth_data_dir):
             gt_data_directory = ground_truth_data_dir + "datasets/"
-            for (dirpath, dirnames, filenames) in os.walk(gt_data_directory):
+            for dirpath, dirnames, filenames in os.walk(gt_data_directory):
                 for f_name in filenames:
                     file = gt_data_directory + f_name
                     with open(file) as f:

droidlet/perception/semantic_parsing/nsp_templated_data_generation/build_scene.py

@@ -190,7 +190,7 @@ def get_good_ad(template_attributes, flat=False):
         if len(r) > 0:
             allowed_blocks = template_attributes.get("allowed_blocktypes")
             if allowed_blocks:
-                for (_, btype) in r:
+                for _, btype in r:
                     if btype not in allowed_blocks:
                         new_btype = random.choice(allowed_blocks)
                         text = text.replace(btype, new_btype)
@@ -507,7 +507,6 @@ def build_scene(template_attributes, sl=32, flat=False):
 
 
 if __name__ == "__main__":
-
     template_attributes = {"count": range(1, 5)}
     template_attributes["step"] = range(1, 10)
     template_attributes["non_shape_names"] = list(SPECIAL_SHAPES_CANONICALIZE.keys())

droidlet/perception/semantic_parsing/nsp_templated_data_generation/generate_data/action_node.py

@@ -222,7 +222,6 @@ def substitute_with_spans(action_description_split, d):
 
                 if action_dict.get("answer_type", None):
                     if action_dict["answer_type"] == "TAG" and "tag_name" in action_dict:
-
                         # fix for tag values to new
                         tag_val = action_dict["tag_name"]
                         if tag_val == "action_reference_object_name":

droidlet/perception/semantic_parsing/nsp_templated_data_generation/generate_data/human_bot_dialogue.py

@@ -114,7 +114,6 @@ def _generate_description(self):
         for j, templ in enumerate(self.template):
             result = []
             for i, key in enumerate(templ):
-
                 # get the text from template object
                 item = key.generate_description(arg_index=0, index=i, templ_index=j)
 
@@ -221,7 +220,6 @@ def _generate_description(self):
         for j, templ in enumerate(self.template):
             result = []
             for i, key in enumerate(templ):
-
                 # get the text from template object
                 item = key.generate_description(arg_index=0, index=i, templ_index=j)
 

droidlet/perception/semantic_parsing/nsp_templated_data_generation/template_objects/block_object.py

@@ -11,6 +11,7 @@
 ### BLOCKOBJECT TEMPLATES ###
 #############################
 
+
 # TODO: refactor this function.
 def define_block_object_type(
     template_obj,

droidlet/perception/semantic_parsing/nsp_transformer_model/data_processing_scripts/post_processing_code_mods/code_mod_add_return_quantity.py

@@ -38,7 +38,7 @@ def update_data(folder):
     file called : f_name + "_new.txt" (templated.txt -> templated_new.txt)
     """
     f = []
-    for (dirpath, dirnames, filenames) in walk(folder):
+    for dirpath, dirnames, filenames in walk(folder):
         for f_name in filenames:
             if f_name == "templated_modify.txt":
                 continue

droidlet/perception/semantic_parsing/nsp_transformer_model/data_processing_scripts/post_processing_code_mods/code_mod_filters_in_dance_type.py

@@ -70,7 +70,7 @@ def update_data(folder):
     file called : f_name + "_new.txt" (templated.txt -> templated_new.txt)
     """
     f = []
-    for (dirpath, dirnames, filenames) in walk(folder):
+    for dirpath, dirnames, filenames in walk(folder):
         for f_name in filenames:
             if f_name == "templated_modify.txt":
                 continue

droidlet/perception/semantic_parsing/nsp_transformer_model/data_processing_scripts/post_processing_code_mods/code_mod_filters_in_location.py

@@ -39,7 +39,7 @@ def update_data(folder):
     performs update on the dataset and writes output to a new
     file called : f_name + "_new.txt" (templated.txt -> templated_new.txt)
     """
-    for (dirpath, dirnames, filenames) in walk(folder):
+    for dirpath, dirnames, filenames in walk(folder):
         for f_name in filenames:
             action_names = {}
             count = 0

droidlet/perception/semantic_parsing/nsp_transformer_model/data_processing_scripts/post_processing_code_mods/code_mod_filters_in_schematics.py

@@ -51,7 +51,7 @@ def update_data(folder):
     file called : f_name + "_new.txt" (templated.txt -> templated_new.txt)
     """
     f = []
-    for (dirpath, dirnames, filenames) in walk(folder):
+    for dirpath, dirnames, filenames in walk(folder):
         for f_name in filenames:
             if f_name == "templated_modify.txt":
                 continue