Fan env: grid-free agent + GT hybrid (wind) simulator#49
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This was referenced Jul 7, 2026
Mirror the domino helper-object design so the fan agent plans over a
physical-only vocabulary while the loc/side grid is injected for the
oracle / process-planning approaches only.
- New ground_truth_models/fan/{types,predicates}.py: the loc/side helper
types and the grid predicates (BallAtLoc/ClearLoc/SideOf/FanFacingSide/
OppositeFan), plus augment_{task,state}_with_helper_objects that rebuild
the exact task grid (coords encoded in loc names) and rewrite the goal
BallAtTarget -> BallAtLoc.
- pybullet_fan.py: drop loc/side from types and the grid predicates from
the env; add the physical BallAtTarget goal predicate; surface the
target coordinates through per-task goal_nl; reconstruct injected
loc/side features from object names. Two-table workspace with y_ub=2.1
and front-anchored robot/switches so the arm never reaches into the grid.
- ground_truth_models/__init__.py: add the augment_state_with_helper_objects
hook (base no-op + dispatcher).
- process_planning_approach.py: re-derive helper objects on every execution
state before abstracting, so the closed-loop oracle keeps evaluating
BallAtLoc during execution. No-op when helpers are disabled.
Unlike domino (plain rigid-body toppling, no-op GT sim), fan applies its wind in _domain_specific_step, which skip_process_dynamics=True base sims never run - so the GT simulator must reproduce the ball's wind-driven motion itself. Calibrated against the real env: constant 0.00228 m/action ball speed, zero coasting, sphere-overhang wall parking, boundary clamp from the target-inferred grid. Params ball_speed + wall_clearance (hard hinge clamps keep the LM Jacobian informative). Unblocks the agent_oracle_hybrid_sim arm; lockstep hybrid-vs-real tests stay within 14.6mm << the 40mm goal tolerance.
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Commits
ground_truth_models/fan/{types,predicates}.py; the agent plans grid-free while location/side helpers are oracle-injected (mirrors the domino grid-free setup).fan/gt_simulator.pymodels fan wind as a skipped process dynamic (unlike domino, a no-op stub would be wrong here), unblocking the oracle+hybrid-sim path. Includestest_fan_gt_simulator.py.