Move to pyproject.toml (#44)

* adding pyproject.toml * version * move pomdp_problems inside pomdp_py * build ext correction * dependencies * move plotting to light_dark * version correction * remove test utils * remove visual * fix * fix main
h2r · Jan 26, 2024 · 0fe9bdb · 0fe9bdb
1 parent b73b52c
commit 0fe9bdb
Show file tree

Hide file tree

Showing 107 changed files with 227 additions and 369 deletions.
diff --git a/pomdp_problems/__init__.py b/pomdp_problems/__init__.py
diff --git a/pomdp_problems/light_dark/__init__.py b/pomdp_problems/light_dark/__init__.py
diff --git a/pomdp_problems/tiger/__init__.py b/pomdp_problems/tiger/__init__.py
diff --git a/pomdp_py/__init__.py b/pomdp_py/__init__.py
@@ -22,7 +22,6 @@
 from pomdp_py.algorithms.po_uct import POUCT, QNode, VNode, RootVNode,\
     RolloutPolicy, RandomRollout, ActionPrior
 from pomdp_py.algorithms.bsp.blqr import BLQR
-from pomdp_py import visual
 
 # Templates & Utilities
 from pomdp_py.utils.templates import *

diff --git a/pomdp_py/__main__.py b/pomdp_py/__main__.py
@@ -11,7 +11,7 @@
 def parse_args():
     parser = argparse.ArgumentParser(description="pomdp_py CLI")
     parser.add_argument("-r", "--run", type=str,
-                        help="run a pomdp under pomdp_problems."
+                        help="run a pomdp under pomdp_py.problems."
                         "Available options: {}".format(available_problems))
     args = parser.parse_args()
     return parser, args
@@ -20,23 +20,23 @@ def parse_args():
     parser, args = parse_args()
     if args.run:
         if args.run.lower() == "tiger":
-            from pomdp_problems.tiger.tiger_problem import main
+            from pomdp_py.problems.tiger.tiger_problem import main
             main()
 
         elif args.run.lower() == "rocksample":
-            from pomdp_problems.rocksample.rocksample_problem import main
+            from pomdp_py.problems.rocksample.rocksample_problem import main
             main()
 
         elif args.run.lower() == "mos":
-            from pomdp_problems.multi_object_search.problem import unittest
+            from pomdp_py.problems.multi_object_search.problem import unittest
             unittest()
 
         elif args.run.lower() == "tag":
-            from pomdp_problems.tag.problem import main
+            from pomdp_py.problems.tag.problem import main
             main()
 
         elif args.run.lower() == "load_unload":
-            from pomdp_problems.load_unload.load_unload import main
+            from pomdp_py.problems.load_unload.load_unload import main
             main()
 
         else:

diff --git a/pomdp_py/problems/__init__.py b/pomdp_py/problems/__init__.py
@@ -0,0 +1 @@
+from pomdp_py.problems import tiger
diff --git a/pomdp_problems/lasertag/README.rst → pomdp_py/problems/lasertag/README.rst b/pomdp_problems/lasertag/README.rst → pomdp_py/problems/lasertag/README.rst
diff --git a/pomdp_problems/lasertag/__init__.py → pomdp_py/problems/lasertag/__init__.py b/pomdp_problems/lasertag/__init__.py → pomdp_py/problems/lasertag/__init__.py
diff --git a/pomdp_problems/light_dark/README.rst → pomdp_py/problems/light_dark/README.rst b/pomdp_problems/light_dark/README.rst → pomdp_py/problems/light_dark/README.rst
diff --git a/pomdp_py/problems/light_dark/__init__.py b/pomdp_py/problems/light_dark/__init__.py
@@ -0,0 +1,7 @@
+from pomdp_py.problems.light_dark.env.env import LightDarkEnvironment
+from pomdp_py.problems.light_dark.env.visual import LightDarkViz
+from pomdp_py.problems.light_dark.domain.state import *
+from pomdp_py.problems.light_dark.domain.action import *
+from pomdp_py.problems.light_dark.domain.observation import *
+from pomdp_py.problems.light_dark.models.transition_model import *
+from pomdp_py.problems.light_dark.models.observation_model import *
diff --git a/pomdp_problems/light_dark/agent/__init__.py → ..._py/problems/light_dark/agent/__init__.py b/pomdp_problems/light_dark/agent/__init__.py → ..._py/problems/light_dark/agent/__init__.py
diff --git a/pomdp_problems/light_dark/agent/belief.py → pomdp_py/problems/light_dark/agent/belief.py b/pomdp_problems/light_dark/agent/belief.py → pomdp_py/problems/light_dark/agent/belief.py
diff --git a/pomdp_problems/light_dark/domain/__init__.py → ...py/problems/light_dark/domain/__init__.py b/pomdp_problems/light_dark/domain/__init__.py → ...py/problems/light_dark/domain/__init__.py
diff --git a/pomdp_problems/light_dark/domain/action.py → ...p_py/problems/light_dark/domain/action.py b/pomdp_problems/light_dark/domain/action.py → ...p_py/problems/light_dark/domain/action.py
diff --git a/...problems/light_dark/domain/observation.py → ...problems/light_dark/domain/observation.py b/...problems/light_dark/domain/observation.py → ...problems/light_dark/domain/observation.py
diff --git a/pomdp_problems/light_dark/domain/state.py → pomdp_py/problems/light_dark/domain/state.py b/pomdp_problems/light_dark/domain/state.py → pomdp_py/problems/light_dark/domain/state.py
diff --git a/pomdp_problems/light_dark/env/__init__.py → pomdp_py/problems/light_dark/env/__init__.py b/pomdp_problems/light_dark/env/__init__.py → pomdp_py/problems/light_dark/env/__init__.py
diff --git a/pomdp_problems/light_dark/env/env.py → pomdp_py/problems/light_dark/env/env.py b/pomdp_problems/light_dark/env/env.py → pomdp_py/problems/light_dark/env/env.py
@@ -4,11 +4,11 @@
 """
 
 import pomdp_py
-import pomdp_problems.light_dark as ld
+import pomdp_py.problems.light_dark as ld
 import numpy as np
 
 class LightDarkEnvironment(pomdp_py.Environment):
-    
+
     def __init__(self,
                  init_state,
                  light,

diff --git a/pomdp_py/utils/plotting.py → pomdp_py/problems/light_dark/env/plotting.py b/pomdp_py/utils/plotting.py → pomdp_py/problems/light_dark/env/plotting.py
@@ -14,10 +14,6 @@ def plot_points(xvals, yvals, color=None,
     plt.ylabel(ylabel)
     plt.legend(loc=loc)
 
-def save_plot(path, bbox_inches='tight'):
-    plt.savefig(path, bbox_inches=bbox_inches)
-    plt.close()
-
 
 # Plot polygons with colors
 def plot_polygons(verts, colors, ax=None, edgecolor=None):

diff --git a/pomdp_problems/light_dark/env/visual.py → pomdp_py/problems/light_dark/env/visual.py b/pomdp_problems/light_dark/env/visual.py → pomdp_py/problems/light_dark/env/visual.py
@@ -1,7 +1,7 @@
 """Plot the light dark environment"""
 import matplotlib.pyplot as plt
 from matplotlib.collections import PolyCollection
-import pomdp_problems.light_dark as ld
+import pomdp_py.problems.light_dark as ld
 from pomdp_py.utils import plotting, colors
 from pomdp_py.utils.misc import remap
 

diff --git a/pomdp_problems/light_dark/models/__init__.py → ...py/problems/light_dark/models/__init__.py b/pomdp_problems/light_dark/models/__init__.py → ...py/problems/light_dark/models/__init__.py
diff --git a/...ms/light_dark/models/observation_model.py → ...ms/light_dark/models/observation_model.py b/...ms/light_dark/models/observation_model.py → ...ms/light_dark/models/observation_model.py
diff --git a/...ems/light_dark/models/transition_model.py → ...ems/light_dark/models/transition_model.py b/...ems/light_dark/models/transition_model.py → ...ems/light_dark/models/transition_model.py
diff --git a/...p_problems/light_dark/problem_discrete.py → ...y/problems/light_dark/problem_discrete.py b/...p_problems/light_dark/problem_discrete.py → ...y/problems/light_dark/problem_discrete.py
diff --git a/pomdp_problems/light_dark/test.py → pomdp_py/problems/light_dark/test.py b/pomdp_problems/light_dark/test.py → pomdp_py/problems/light_dark/test.py
@@ -1,4 +1,4 @@
-import pomdp_problems.light_dark as ld
+import pomdp_py.problems.light_dark as ld
 import matplotlib.pyplot as plt
 import pomdp_py
 import numpy as np
@@ -77,7 +77,7 @@ def manual_test(blqr):
         print(b_1[1])
         b_1 = blqr.ekf_update_mlo(b_1, [-1.0, 0.0])
         print(b_1[0])
-        print(b_1[1])    
+        print(b_1[1])
         b_1 = blqr.ekf_update_mlo(b_1, [-1.0, 0.0])
         print(b_1[0])
         print(b_1[1])
@@ -126,7 +126,7 @@ def manual_test(blqr):
         b_traj_light.append(b_tp1)
         b_t = b_tp1
     bu_traj_light = [(b_traj_light[t], np.array(u_traj_light[t])) for t in range(len(u_traj_light))]
-    
+
     # traj not through light
     u_traj_dark = [[-1., -1.], [-1., -1.], [-1., -1.]]
     b_t = b_0
@@ -135,12 +135,12 @@ def manual_test(blqr):
         u_t = u_traj_dark[t]
         b_tp1 = blqr.ekf_update_mlo(b_t, u_t)
         b_traj_dark.append(b_tp1)
-        b_t = b_tp1        
+        b_t = b_tp1
     bu_traj_dark = [(b_traj_dark[t], np.array(u_traj_dark[t])) for t in range(len(u_traj_dark))]
 
 
     total_light = 0
-    total_dark = 0    
+    total_dark = 0
     for i in range(1000):
         cost_light = blqr.segmented_cost_function(bu_traj_light, b_des, [], len(bu_traj_light))
         cost_dark = blqr.segmented_cost_function(bu_traj_dark, b_des, [], len(bu_traj_dark))
@@ -154,7 +154,7 @@ def manual_test(blqr):
     viz = ld.LightDarkViz(env, x_range, y_range, 0.1)
     viz.set_goal(goal_pos)
     viz.set_initial_belief_pos(b_0[0])
-    
+
     # Made up paths
     viz.log_position(tuple(b_0[0]), path=2)
     viz.log_position(tuple(b_0[0]), path=3)
@@ -171,7 +171,7 @@ def manual_test(blqr):
     for b_t, u_t in bu_traj_dark:
         viz.log_position(tuple(b_t[0]), path=4)
         viz.log_position(tuple(sysd_b_dark[-1][0]), path=5)
-        sysd_b_dark.append((func_sysd(sysd_b_dark[-1][0], u_t), 0))        
+        sysd_b_dark.append((func_sysd(sysd_b_dark[-1][0], u_t), 0))
 
     viz.plot(path_colors={2: [(0,0,0), (0,255,0)],
                           3: [(0,0,0), (0,255,255)],
@@ -181,7 +181,7 @@ def manual_test(blqr):
                           3: "-",
                           4: "--",
                           5: "-"})
-    plt.show()    
+    plt.show()
 
 
 
@@ -197,13 +197,13 @@ def test(blqr):
     ############
     b_0 = (np.array([2.0, 2.0]),
            np.array([[5.0, 0.0],
-                     [0.0, 5.0]]))    
+                     [0.0, 5.0]]))
     x_sol = blqr.create_plan(b_0, b_des, u_des,
                              num_segments=num_segments,
                              opt_options={"maxiter": 30},
                              opt_callback=opt_callback,
                              control_bounds=(-0.1, 0.1))
-    with np.printoptions(precision=3, suppress=True):    
+    with np.printoptions(precision=3, suppress=True):
         print("SLSQP solution:")
         print(x_sol)
     plan = blqr.interpret_sqp_plan(x_sol, num_segments)
@@ -227,22 +227,22 @@ def test(blqr):
                           1: "-"},
              path_widths={0: 4,
                           1: 1})
-    plt.show()    
+    plt.show()
+
 
-
 
 
 if __name__ == "__main__":
     test(blqr)
     # bt = (np.array([1.3, 2.0]), np.array([[0.5, 0.0], [0.0, 0.5]]))
     # ut = np.array([1.5, 0.2])
-    
+
     # func_sysd = env.transition_model.func()
     # func_obs = obsmodel.func()
     # jac_sysd = env.transition_model.jac_dx()
     # jac_sysd_u = env.transition_model.jac_du()
     # jac_obs = obsmodel.jac_dx()
-    
+
     # noise_sysd = pomdp_py.Gaussian([0,0], [[0.1,0],
     #                                        [0,0.1]]).random()
     # noise_obs_cov = obsmodel.noise_covariance(bt[0])

diff --git a/pomdp_problems/load_unload/README.rst → pomdp_py/problems/load_unload/README.rst b/pomdp_problems/load_unload/README.rst → pomdp_py/problems/load_unload/README.rst
diff --git a/pomdp_problems/load_unload/__init__.py → pomdp_py/problems/load_unload/__init__.py b/pomdp_problems/load_unload/__init__.py → pomdp_py/problems/load_unload/__init__.py
diff --git a/pomdp_problems/load_unload/load_unload.py → pomdp_py/problems/load_unload/load_unload.py b/pomdp_problems/load_unload/load_unload.py → pomdp_py/problems/load_unload/load_unload.py
diff --git a/pomdp_problems/maze/README.rst → pomdp_py/problems/maze/README.rst b/pomdp_problems/maze/README.rst → pomdp_py/problems/maze/README.rst
diff --git a/pomdp_problems/maze/__init__.py → pomdp_py/problems/maze/__init__.py b/pomdp_problems/maze/__init__.py → pomdp_py/problems/maze/__init__.py
diff --git a/pomdp_problems/maze/domain/__init__.py → pomdp_py/problems/maze/domain/__init__.py b/pomdp_problems/maze/domain/__init__.py → pomdp_py/problems/maze/domain/__init__.py
diff --git a/pomdp_problems/maze/domain/action.py → pomdp_py/problems/maze/domain/action.py b/pomdp_problems/maze/domain/action.py → pomdp_py/problems/maze/domain/action.py
@@ -4,5 +4,5 @@
 
 # Reuses the actions in the multi object search domain
 import pomdp_py
-from pomdp_problems.multi_object_search.domain.action\
+from pomdp_py.problems.multi_object_search.domain.action\
     import MotionAction, MoveForward, MoveBackward, MoveLeft, MoveRight, LookAction
diff --git a/pomdp_problems/maze/domain/observation.py → pomdp_py/problems/maze/domain/observation.py b/pomdp_problems/maze/domain/observation.py → pomdp_py/problems/maze/domain/observation.py
diff --git a/pomdp_problems/maze/domain/state.py → pomdp_py/problems/maze/domain/state.py b/pomdp_problems/maze/domain/state.py → pomdp_py/problems/maze/domain/state.py
diff --git a/pomdp_problems/maze/env/__init__.py → pomdp_py/problems/maze/env/__init__.py b/pomdp_problems/maze/env/__init__.py → pomdp_py/problems/maze/env/__init__.py
diff --git a/pomdp_problems/maze/env/env.py → pomdp_py/problems/maze/env/env.py b/pomdp_problems/maze/env/env.py → pomdp_py/problems/maze/env/env.py
diff --git a/pomdp_problems/maze/models/__init__.py → pomdp_py/problems/maze/models/__init__.py b/pomdp_problems/maze/models/__init__.py → pomdp_py/problems/maze/models/__init__.py
diff --git a/...oblems/maze/models/components/__init__.py → ...oblems/maze/models/components/__init__.py b/...oblems/maze/models/components/__init__.py → ...oblems/maze/models/components/__init__.py
diff --git a/pomdp_problems/maze/models/components/map.py → ...py/problems/maze/models/components/map.py b/pomdp_problems/maze/models/components/map.py → ...py/problems/maze/models/components/map.py
diff --git a/...p_problems/multi_object_search/README.rst → ...y/problems/multi_object_search/README.rst b/...p_problems/multi_object_search/README.rst → ...y/problems/multi_object_search/README.rst
diff --git a/..._problems/multi_object_search/__init__.py → .../problems/multi_object_search/__init__.py b/..._problems/multi_object_search/__init__.py → .../problems/multi_object_search/__init__.py
diff --git a/...ems/multi_object_search/agent/__init__.py → ...ems/multi_object_search/agent/__init__.py b/...ems/multi_object_search/agent/__init__.py → ...ems/multi_object_search/agent/__init__.py
diff --git a/...oblems/multi_object_search/agent/agent.py → ...oblems/multi_object_search/agent/agent.py b/...oblems/multi_object_search/agent/agent.py → ...oblems/multi_object_search/agent/agent.py
diff --git a/...blems/multi_object_search/agent/belief.py → ...blems/multi_object_search/agent/belief.py b/...blems/multi_object_search/agent/belief.py → ...blems/multi_object_search/agent/belief.py
diff --git a/...ms/multi_object_search/domain/__init__.py → ...ms/multi_object_search/domain/__init__.py b/...ms/multi_object_search/domain/__init__.py → ...ms/multi_object_search/domain/__init__.py
diff --git a/...lems/multi_object_search/domain/action.py → ...lems/multi_object_search/domain/action.py b/...lems/multi_object_search/domain/action.py → ...lems/multi_object_search/domain/action.py
diff --git a/...multi_object_search/domain/observation.py → ...multi_object_search/domain/observation.py b/...multi_object_search/domain/observation.py → ...multi_object_search/domain/observation.py
diff --git a/...blems/multi_object_search/domain/state.py → ...blems/multi_object_search/domain/state.py b/...blems/multi_object_search/domain/state.py → ...blems/multi_object_search/domain/state.py
diff --git a/...blems/multi_object_search/env/__init__.py → ...blems/multi_object_search/env/__init__.py b/...blems/multi_object_search/env/__init__.py → ...blems/multi_object_search/env/__init__.py
diff --git a/...p_problems/multi_object_search/env/env.py → ...y/problems/multi_object_search/env/env.py b/...p_problems/multi_object_search/env/env.py → ...y/problems/multi_object_search/env/env.py
@@ -2,10 +2,10 @@
 
 import pomdp_py
 import copy
-from pomdp_problems.multi_object_search.models.transition_model import *
-from pomdp_problems.multi_object_search.models.reward_model import *
-from pomdp_problems.multi_object_search.models.components.sensor import *
-from pomdp_problems.multi_object_search.domain.state import *
+from pomdp_py.problems.multi_object_search.models.transition_model import *
+from pomdp_py.problems.multi_object_search.models.reward_model import *
+from pomdp_py.problems.multi_object_search.models.components.sensor import *
+from pomdp_py.problems.multi_object_search.domain.state import *
 
 class MosEnvironment(pomdp_py.Environment):
     """"""
@@ -33,7 +33,7 @@ def __init__(self, dim, init_state, sensors, obstacles=set({})):
         super().__init__(init_state,
                          transition_model,
                          reward_model)
-        
+
     @property
     def robot_ids(self):
         return set(self.sensors.keys())
@@ -61,14 +61,14 @@ def state_transition(self, action, execute=True, robot_id=None):
         next_state = copy.deepcopy(self.state)
         next_state.object_states[robot_id] =\
             self.transition_model[robot_id].sample(self.state, action)
-        
+
         reward = self.reward_model.sample(self.state, action, next_state,
                                           robot_id=robot_id)
         if execute:
             self.apply_transition(next_state)
             return reward
         else:
-            return next_state, reward        
+            return next_state, reward
 
 #### Interpret string as an initial world state ####
 def interpret(worldstr):
@@ -77,30 +77,30 @@ def interpret(worldstr):
     and returns the corresponding MosEnvironment.
 
     For example: This string
-    
+
     .. code-block:: text
 
         rx...
         .x.xT
         .....
         ***
         r: laser fov=90 min_range=1 max_range=10
-    
+
     describes a 3 by 5 world where x indicates obsticles and T indicates
     the "target object". T could be replaced by any upper-case letter A-Z
     which will serve as the object's id. Lower-case letters a-z (except for x)
     serve as id for robot(s).
 
     After the world, the :code:`***` signals description of the sensor for each robot.
     For example "r laser 90 1 10" means that robot `r` will have a Laser2Dsensor
-    with fov 90, min_range 1.0, and max_range of 10.0.    
+    with fov 90, min_range 1.0, and max_range of 10.0.
 
     Args:
         worldstr (str): a string that describes the initial state of the world.
 
     Returns:
         MosEnvironment: the corresponding environment for the world description.
-            
+
     """
     worldlines = []
     sensorlines = []
@@ -115,11 +115,11 @@ def interpret(worldstr):
                 worldlines.append(line)
             if mode == "sensor":
                 sensorlines.append(line)
-    
+
     lines = [line for line in worldlines
              if len(line) > 0]
     w, l = len(worldlines[0]), len(worldlines)
-    
+
     objects = {}    # objid -> object_state(pose)
     obstacles = set({})  # objid
     robots = {}  # robot_id -> robot_state(pose)
@@ -137,12 +137,12 @@ def interpret(worldstr):
                 objid = 1000 + len(obstacles)  # obstacle id
                 objects[objid] = ObjectState(objid, "obstacle", (x,y))
                 obstacles.add(objid)
-                
+
             elif c.isupper():
                 # target object
                 objid = len(objects)
                 objects[objid] = ObjectState(objid, "target", (x,y))
-                
+
             elif c.islower():
                 # robot
                 robot_id = interpret_robot_id(c)
@@ -162,15 +162,15 @@ def interpret(worldstr):
         robot_name = line.split(":")[0].strip()
         robot_id = interpret_robot_id(robot_name)
         assert robot_id in robots, "Sensor specified for unknown robot %s" % (robot_name)
-        
+
         sensor_setting = line.split(":")[1].strip()
         sensor_type = sensor_setting.split(" ")[0].strip()
         sensor_params = {}
         for token in sensor_setting.split(" ")[1:]:
             param_name = token.split("=")[0].strip()
             param_value = eval(token.split("=")[1].strip())
             sensor_params[param_name] = param_value
-        
+
         if sensor_type == "laser":
             sensor = Laser2DSensor(robot_id, **sensor_params)
         elif sensor_type == "proximity":

diff --git a/...roblems/multi_object_search/env/visual.py → ...roblems/multi_object_search/env/visual.py b/...roblems/multi_object_search/env/visual.py → ...roblems/multi_object_search/env/visual.py
@@ -12,11 +12,11 @@
 import numpy as np
 import random
 import pomdp_py.utils as util
-from pomdp_problems.multi_object_search.env.env import *
-from pomdp_problems.multi_object_search.domain.observation import *
-from pomdp_problems.multi_object_search.domain.action import *
-from pomdp_problems.multi_object_search.domain.state import *
-from pomdp_problems.multi_object_search.example_worlds import *
+from pomdp_py.problems.multi_object_search.env.env import *
+from pomdp_py.problems.multi_object_search.domain.observation import *
+from pomdp_py.problems.multi_object_search.domain.action import *
+from pomdp_py.problems.multi_object_search.domain.state import *
+from pomdp_py.problems.multi_object_search.example_worlds import *
 
 # Deterministic way to get object color
 def object_color(objid, count):

diff --git a/...ems/multi_object_search/example_worlds.py → ...ems/multi_object_search/example_worlds.py b/...ems/multi_object_search/example_worlds.py → ...ems/multi_object_search/example_worlds.py
diff --git a/...ms/multi_object_search/models/__init__.py → ...ms/multi_object_search/models/__init__.py b/...ms/multi_object_search/models/__init__.py → ...ms/multi_object_search/models/__init__.py
diff --git a/...ject_search/models/components/__init__.py → ...ject_search/models/components/__init__.py b/...ject_search/models/components/__init__.py → ...ject_search/models/components/__init__.py
diff --git a/...ject_search/models/components/grid_map.py → ...ject_search/models/components/grid_map.py b/...ject_search/models/components/grid_map.py → ...ject_search/models/components/grid_map.py
@@ -1,8 +1,8 @@
 """Optional grid map to assist collision avoidance during planning."""
 
-from pomdp_problems.multi_object_search.models.transition_model import RobotTransitionModel
-from pomdp_problems.multi_object_search.domain.action import *
-from pomdp_problems.multi_object_search.domain.state import *
+from pomdp_py.problems.multi_object_search.models.transition_model import RobotTransitionModel
+from pomdp_py.problems.multi_object_search.domain.action import *
+from pomdp_py.problems.multi_object_search.domain.state import *
 
 class GridMap:
     """This map assists the agent to avoid planning invalid
@@ -15,7 +15,7 @@ def __init__(self, width, length, obstacles):
             obstacles (dict): Map from objid to (x,y); The object is
                                    supposed to be an obstacle.
             width (int): width of the grid map
-            length (int): length of the grid map 
+            length (int): length of the grid map
         """
         self.width = width
         self.length = length
@@ -29,7 +29,7 @@ def __init__(self, width, length, obstacles):
         }
         # set of obstacle poses
         self.obstacle_poses = set({self._obstacles[objid]
-                                   for objid in self._obstacles})        
+                                   for objid in self._obstacles})
 
     def valid_motions(self, robot_id, robot_pose, all_motion_actions):
         """

diff --git a/...object_search/models/components/sensor.py → ...object_search/models/components/sensor.py b/...object_search/models/components/sensor.py → ...object_search/models/components/sensor.py
@@ -2,8 +2,8 @@
 
 import math
 import numpy as np
-from pomdp_problems.multi_object_search.domain.action import *
-from pomdp_problems.multi_object_search.domain.observation import *
+from pomdp_py.problems.multi_object_search.domain.action import *
+from pomdp_py.problems.multi_object_search.domain.observation import *
 
 # Note that the occlusion of an object is implemented based on
 # whether a beam will hit an obstacle or some other object before