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[pre-commit.ci] auto fixes from pre-commit.com hooks 

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This commit is contained in:
pre-commit-ci[bot] 2024-07-16 22:56:11 +00:00
parent 9b9456423c
commit 0019f1d54a
12 changed files with 84 additions and 54 deletions
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6
omnigibson/objects/stateful_object.py
View File

@ -1,9 +1,9 @@
import sys
from collections import defaultdict
from typing import Literal
import numpy as np
from bddl.object_taxonomy import ObjectTaxonomy
from typing import Literal
import omnigibson as og
import omnigibson.lazy as lazy
@ -592,7 +592,9 @@ class StatefulObject(BaseObject):
for _, obj_state in self._states.items():
obj_state.clear_cache()
def set_position_orientation(self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"):
def set_position_orientation(
self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"
):
"""
Set the position and orientation of stateful object.

20
omnigibson/prims/entity_prim.py
View File

@ -965,7 +965,9 @@ class EntityPrim(XFormPrim):
"""
return T.quat2mat(self.get_position_orientation()[1]).T @ self.get_angular_velocity()
def set_position_orientation(self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"):
def set_position_orientation(
self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"
):
"""
Set the position and orientation of entry prim object.
@ -1034,14 +1036,16 @@ class EntityPrim(XFormPrim):
if frame == "world" or frame == "scene":
positions, orientations = self._articulation_view.get_world_poses()
else:
positions, orientations = self._articulation_view.get_local_poses()
positions, orientations = self._articulation_view.get_local_poses()
position, orientation = positions[0], orientations[0][[1, 2, 3, 0]]
# If we are in a scene, compute the scene-local transform
if frame == "scene":
position, orientation = T.relative_pose_transform(position, orientation, *self.scene.prim.get_position_orientation())
position, orientation = T.relative_pose_transform(
position, orientation, *self.scene.prim.get_position_orientation()
)
return position, orientation
def set_local_pose(self, position=None, orientation=None, frame="parent"):
@ -1049,8 +1053,8 @@ class EntityPrim(XFormPrim):
import warnings
warnings.warn(
"set_local_pose is deprecated and will be removed in a future release. Use set_position_orientation(position=position, orientation=orientation, frame=\"parent\") instead",
DeprecationWarning
'set_local_pose is deprecated and will be removed in a future release. Use set_position_orientation(position=position, orientation=orientation, frame="parent") instead',
DeprecationWarning,
)
return self.set_position_orientation(position=position, orientation=orientation, frame="parent")
@ -1059,8 +1063,8 @@ class EntityPrim(XFormPrim):
import warnings
warnings.warn(
"get_local_pose is deprecated and will be removed in a future release. Use get_position_orientation(frame=\"parent\") instead",
DeprecationWarning
'get_local_pose is deprecated and will be removed in a future release. Use get_position_orientation(frame="parent") instead',
DeprecationWarning,
)
return self.get_position_orientation(frame="parent")

12
omnigibson/prims/rigid_prim.py
View File

@ -307,7 +307,9 @@ class RigidPrim(XFormPrim):
"""
return self._rigid_prim_view.get_angular_velocities()[0]
def set_position_orientation(self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"):
def set_position_orientation(
self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"
):
"""
Set the position and orientation of XForm Prim.
@ -394,7 +396,9 @@ class RigidPrim(XFormPrim):
# If we are in a scene, compute the scene-local transform
if frame == "scene":
position, orientation = T.relative_pose_transform(position, orientation, *self.scene.prim.get_position_orientation())
position, orientation = T.relative_pose_transform(
position, orientation, *self.scene.prim.get_position_orientation()
)
return position, orientation
@ -403,7 +407,7 @@ class RigidPrim(XFormPrim):
import warnings
warnings.warn(
"set_local_pose is deprecated and will be removed in a future release. Use set_position_orientation(position=position, orientation=orientation, frame=\"parent\") instead",
'set_local_pose is deprecated and will be removed in a future release. Use set_position_orientation(position=position, orientation=orientation, frame="parent") instead',
DeprecationWarning,
)
return self.set_position_orientation(position=position, orientation=orientation, frame="parent")
@ -413,7 +417,7 @@ class RigidPrim(XFormPrim):
import warnings
warnings.warn(
"get_local_pose is deprecated and will be removed in a future release. Use get_position_orientation(frame=\"parent\") instead",
'get_local_pose is deprecated and will be removed in a future release. Use get_position_orientation(frame="parent") instead',
DeprecationWarning,
)
return self.get_position_orientation(frame="parent")

33
omnigibson/prims/xform_prim.py
View File

@ -170,7 +170,9 @@ class XFormPrim(BasePrim):
material_path = self._binding_api.GetDirectBinding().GetMaterialPath().pathString
return material_path != ""
def set_position_orientation(self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"):
def set_position_orientation(
self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"
):
"""
Sets prim's pose with respect to the specified frame
@ -191,7 +193,9 @@ class XFormPrim(BasePrim):
# If we are in a scene, compute the scene-local transform before setting the pose
if frame == "scene" and self.scene is None:
position, orientation = T.pose_transform(*self.scene.prim.get_position_orientation(), position, orientation)
position, orientation = T.pose_transform(
*self.scene.prim.get_position_orientation(), position, orientation
)
assert np.isclose(
np.linalg.norm(orientation), 1, atol=1e-3
@ -267,10 +271,12 @@ class XFormPrim(BasePrim):
# If we are in a scene, compute the scene-local transform (and save this as the world transform
# for legacy compatibility)
if frame == "scene" and self.scene is not None:
position, orientation = T.relative_pose_transform(position, orientation, *self.scene.prim.get_position_orientation())
position, orientation = T.relative_pose_transform(
position, orientation, *self.scene.prim.get_position_orientation()
)
return position, orientation
# ------------------- Deprecated methods -------------------
def set_position(self, position):
@ -284,8 +290,8 @@ class XFormPrim(BasePrim):
import warnings
warnings.warn(
"set_position is deprecated and will be removed in a future release. Use set_position_orientation(position=position) instead",
DeprecationWarning
"set_position is deprecated and will be removed in a future release. Use set_position_orientation(position=position) instead",
DeprecationWarning,
)
return self.set_position_orientation(position=position)
@ -300,8 +306,8 @@ class XFormPrim(BasePrim):
import warnings
warnings.warn(
"get_position is deprecated and will be removed in a future release. Use get_position_orientation()[0] instead.",
DeprecationWarning
"get_position is deprecated and will be removed in a future release. Use get_position_orientation()[0] instead.",
DeprecationWarning,
)
return self.get_position_orientation()[0]
@ -331,7 +337,10 @@ class XFormPrim(BasePrim):
import warnings
warnings.warn("get_orientation is deprecated and will be removed in a future release. Use get_position_orientation()[1] instead", DeprecationWarning)
warnings.warn(
"get_orientation is deprecated and will be removed in a future release. Use get_position_orientation()[1] instead",
DeprecationWarning,
)
return self.get_position_orientation()[1]
def get_local_pose(self):
@ -347,7 +356,7 @@ class XFormPrim(BasePrim):
import warnings
warnings.warn(
"get_local_pose is deprecated and will be removed in a future release. Use get_position_orientation(frame=\"parent\") instead",
'get_local_pose is deprecated and will be removed in a future release. Use get_position_orientation(frame="parent") instead',
DeprecationWarning,
)
@ -367,7 +376,7 @@ class XFormPrim(BasePrim):
import warnings
warnings.warn(
"set_local_pose is deprecated and will be removed in a future release. Use set_position_orientation(position=position, orientation=orientation, frame=\"parent\") instead",
'set_local_pose is deprecated and will be removed in a future release. Use set_position_orientation(position=position, orientation=orientation, frame="parent") instead',
DeprecationWarning,
)
@ -493,7 +502,7 @@ class XFormPrim(BasePrim):
return dict(pos=pos, ori=ori)
def _load_state(self, state):
pos, orn = np.array(state["pos"]), np.array(state["ori"])
self.set_position_orientation(pos, orn, frame="scene")

16
omnigibson/robots/behavior_robot.py
View File

@ -2,7 +2,7 @@ import itertools
import os
from abc import ABC
from collections import OrderedDict
from typing import Iterable, List, Tuple, Literal
from typing import Iterable, List, Literal, Tuple
import numpy as np
from scipy.spatial.transform import Rotation as R
@ -402,8 +402,9 @@ class BehaviorRobot(ManipulationRobot, LocomotionRobot, ActiveCameraRobot):
return self.base_footprint_link.get_position_orientation()
def set_position_orientation(self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"):
def set_position_orientation(
self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"
):
"""
Sets behavior robot's pose with respect to the specified frame
@ -418,7 +419,6 @@ class BehaviorRobot(ManipulationRobot, LocomotionRobot, ActiveCameraRobot):
super().set_position_orientation(position, orientation, frame=frame)
# Move the joint frame for the world_base_joint
if self._world_base_fixed_joint_prim is not None:
if position is not None:
@ -590,7 +590,9 @@ class BRPart(ABC):
)
return self.get_position_orientation(frame="parent")
def get_position_orientation(self, frame: Literal["world", "scene", "parent"] = "world") -> Tuple[Iterable[float], Iterable[float]]:
def get_position_orientation(
self, frame: Literal["world", "scene", "parent"] = "world"
) -> Tuple[Iterable[float], Iterable[float]]:
"""
Gets robot's pose with respect to the specified frame.
@ -617,7 +619,9 @@ class BRPart(ABC):
return T.relative_pose_transform(*self.get_position_orientation(), *self.parent.get_position_orientation())
def set_position_orientation(self, pos: Iterable[float], orn: Iterable[float], frame: Literal["world", "parent", "scene"] = "world") -> None:
def set_position_orientation(
self, pos: Iterable[float], orn: Iterable[float], frame: Literal["world", "parent", "scene"] = "world"
) -> None:
"""
Sets BRPart's pose with respect to the specified frame

6
omnigibson/robots/manipulation_robot.py
View File

@ -1,9 +1,9 @@
from abc import abstractmethod
from collections import namedtuple
from typing import Literal
import networkx as nx
import numpy as np
from typing import Literal
import omnigibson as og
import omnigibson.lazy as lazy
@ -308,7 +308,9 @@ class ManipulationRobot(BaseRobot):
return contact_data, robot_contact_links
def set_position_orientation(self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"):
def set_position_orientation(
self, position=None, orientation=None, frame: Literal["world", "parent", "scene"] = "world"
):
"""
Sets manipulation robot's pose with respect to the specified frame

7
omnigibson/robots/tiago.py
View File

@ -1,7 +1,7 @@
import os
from typing import Literal
import numpy as np
from typing import Literal
import omnigibson as og
import omnigibson.lazy as lazy
@ -714,8 +714,9 @@ class Tiago(ManipulationRobot, LocomotionRobot, ActiveCameraRobot):
return self.base_footprint_link.get_position_orientation()
def set_position_orientation(self, position=None, orientation=None, frame: Literal["world", "scene", "parent"] = "world"):
def set_position_orientation(
self, position=None, orientation=None, frame: Literal["world", "scene", "parent"] = "world"
):
"""
Sets tiago's pose with respect to the specified frame

4
omnigibson/scenes/scene_base.py
View File

@ -25,8 +25,8 @@ from omnigibson.systems.system_base import (
VisualParticleSystem,
create_system_from_metadata,
)
from omnigibson.utils.constants import STRUCTURE_CATEGORIES
from omnigibson.transition_rules import TransitionRuleAPI
from omnigibson.utils.constants import STRUCTURE_CATEGORIES
from omnigibson.utils.python_utils import (
Recreatable,
Registerable,
@ -323,7 +323,7 @@ class Scene(Serializable, Registerable, Recreatable, ABC):
position=[last_scene_edge + scene_margin + left_edge_to_center, 0, 0]
)
new_scene_edge = last_scene_edge + scene_margin + (aabb_max[0] - aabb_min[0])
else:
else:
aabb_min, aabb_max = lazy.omni.usd.get_context().compute_path_world_bounding_box(scene_absolute_path)
new_scene_edge = aabb_max[0]

1
omnigibson/utils/constants.py
View File

@ -75,6 +75,7 @@ class EmitterType(IntEnum):
FIRE = 0
STEAM = 1
# Valid primitive mesh types
PRIMITIVE_MESH_TYPES = {
"Cone",

6
omnigibson/utils/usd_utils.py
View File

@ -4,10 +4,10 @@ import math
import os
import re
from collections.abc import Iterable
from typing import Literal
import numpy as np
import trimesh
from typing import Literal
import omnigibson as og
import omnigibson.lazy as lazy
@ -680,9 +680,7 @@ class FlatcacheAPI:
# 1. For every link, update its xformOp properties to be 0
for link in prim.links.values():
XFormPrim.set_position_orientation(
link, np.zeros(3), np.array([0, 0, 0, 1.0]), frame="parent"
)
XFormPrim.set_position_orientation(link, np.zeros(3), np.array([0, 0, 0, 1.0]), frame="parent")
# 2. For every joint, update its linear / angular joint state to be 0
if prim.n_joints > 0:
for joint in prim.joints.values():

25
tests/test_multiple_envs.py
View File

@ -182,6 +182,7 @@ def test_multi_scene_particle_source():
for _ in range(50):
og.sim.step()
def test_multi_scene_position_orientation_relative_to_scene():
vec_env = setup_multi_environment(3)
@ -202,13 +203,15 @@ def test_multi_scene_position_orientation_relative_to_scene():
updated_relative_pos, updated_relative_ori = robot.get_position_orientation(frame="scene")
# Assert that the relative position has been updated correctly
assert np.allclose(updated_relative_pos, new_relative_pos, atol=1e-3), \
f"Updated relative position {updated_relative_pos} does not match expected {new_relative_pos}"
assert np.allclose(
updated_relative_pos, new_relative_pos, atol=1e-3
), f"Updated relative position {updated_relative_pos} does not match expected {new_relative_pos}"
# Assert that the relative orientation has been updated correctly
assert np.allclose(updated_relative_ori, new_relative_ori, atol=1e-3), \
f"Updated relative orientation {updated_relative_ori} does not match expected {new_relative_ori}"
assert np.allclose(
updated_relative_ori, new_relative_ori, atol=1e-3
), f"Updated relative orientation {updated_relative_ori} does not match expected {new_relative_ori}"
# Get the scene's global position and orientation
scene_pos, scene_ori = scene_prim.get_position_orientation(frame="world")
@ -219,14 +222,16 @@ def test_multi_scene_position_orientation_relative_to_scene():
expected_global_pos = scene_pos + updated_relative_pos
# Assert that the global position is correct
assert np.allclose(global_pos, expected_global_pos, atol=1e-3), \
f"Global position {global_pos} does not match expected {expected_global_pos}"
assert np.allclose(
global_pos, expected_global_pos, atol=1e-3
), f"Global position {global_pos} does not match expected {expected_global_pos}"
# Calculate expected global orientation
expected_global_ori = quat_multiply(scene_ori, new_relative_ori)
# Assert that the global orientation is correct
assert np.allclose(global_ori, expected_global_ori, atol=1e-3), \
f"Global orientation {global_ori} does not match expected {expected_global_ori}"
assert np.allclose(
global_ori, expected_global_ori, atol=1e-3
), f"Global orientation {global_ori} does not match expected {expected_global_ori}"
og.clear()
og.clear()

2
tests/test_robot_states_flatcache.py
View File

@ -111,6 +111,6 @@ def camera_pose_test(flatcache):
og.clear()
def test_camera_pose_flatcache_on():
camera_pose_test(True)