Switch to formatting via ruff

omnigibson/action_primitives/starter_semantic_action_primitives.py

@@ -338,7 +338,6 @@ def __init__(
                     quat_relative_axis_angle = T.quat2axisangle(quat_relative)
                     self._arm_targets[arm] = (pos_relative, quat_relative_axis_angle)
                 else:
-
                     arm_target = cb.to_torch(control_dict["joint_position"])[arm_ctrl.dof_idx]
                     self._arm_targets[arm] = arm_target
 

omnigibson/envs/data_wrapper.py

@@ -232,7 +232,6 @@ def save_data(self):
             self.flush_current_traj()
 
         if self.hdf5_file is not None:
-
             log.info(
                 f"\nSaved:\n"
                 f"{self.traj_count} trajectories / {self.step_count} total steps\n"

omnigibson/object_states/filled.py

@@ -13,7 +13,6 @@
 
 
 class Filled(RelativeObjectState, BooleanStateMixin):
-
     def _get_value(self, system):
         # Sanity check to make sure system is valid
         assert self.obj.scene.is_physical_particle_system(

omnigibson/object_states/joint_state.py

@@ -10,7 +10,6 @@
 
 
 class Joint(AbsoluteObjectState):
-
     def _get_value(self):
         return self.obj.get_joint_positions() if self.obj.n_joints > 0 else th.tensor([])
 

omnigibson/object_states/next_to.py

@@ -7,7 +7,6 @@
 
 
 class NextTo(KinematicsMixin, RelativeObjectState, BooleanStateMixin):
-
     @classmethod
     def get_dependencies(cls):
         deps = super().get_dependencies()

omnigibson/object_states/on_top.py

@@ -9,7 +9,6 @@
 
 
 class OnTop(KinematicsMixin, RelativeObjectState, BooleanStateMixin):
-
     @classmethod
     def get_dependencies(cls):
         deps = super().get_dependencies()

omnigibson/object_states/overlaid.py

@@ -23,7 +23,6 @@
 
 
 class Overlaid(KinematicsMixin, RelativeObjectState, BooleanStateMixin):
-
     @classmethod
     def get_dependencies(cls):
         deps = super().get_dependencies()

omnigibson/object_states/particle_modifier.py

@@ -224,7 +224,6 @@ def condition(obj) --> bool
     """
 
     def __init__(self, obj, conditions, method=ParticleModifyMethod.ADJACENCY, projection_mesh_params=None):
-
         # Store internal variables
         self.method = method
         self.projection_source_sphere = None

omnigibson/object_states/pose.py

@@ -11,7 +11,6 @@
 
 
 class Pose(AbsoluteObjectState):
-
     def _get_value(self):
         pos, orn = self.obj.get_position_orientation()
         return pos, orn

omnigibson/object_states/temperature.py

@@ -17,7 +17,6 @@
 
 
 class Temperature(TensorizedValueState):
-
     def __init__(self, obj):
         # Run super first
         super(Temperature, self).__init__(obj)

omnigibson/object_states/toggle.py

@@ -21,7 +21,6 @@
 
 
 class ToggledOn(AbsoluteObjectState, BooleanStateMixin, LinkBasedStateMixin, UpdateStateMixin, GlobalUpdateStateMixin):
-
     # List of set of prim paths defining robot finger links belonging to any manipulation robots per scene
     _robot_finger_paths = None
 

omnigibson/object_states/touching.py

@@ -5,7 +5,6 @@
 
 
 class Touching(KinematicsMixin, RelativeObjectState, BooleanStateMixin):
-
     @staticmethod
     def _check_contact(obj_a, obj_b):
         return len(set(obj_a.links.values()) & obj_b.states[ContactBodies].get_value()) > 0

omnigibson/prims/geom_prim.py

@@ -31,7 +31,6 @@ def __init__(
         name,
         load_config=None,
     ):
-
         # Run super method
         super().__init__(
             relative_prim_path=relative_prim_path,
@@ -193,7 +192,6 @@ def extent(self):
 
 
 class CollisionGeomPrim(GeomPrim):
-
     def __init__(
         self,
         relative_prim_path,
@@ -436,7 +434,6 @@ class VisualGeomPrim(GeomPrim):
 
 
 class CollisionVisualGeomPrim(CollisionGeomPrim, VisualGeomPrim):
-
     def _post_load(self):
         # run super first
         super()._post_load()

omnigibson/robots/behavior_robot.py

@@ -468,8 +468,9 @@ def teleop_data_to_action(self, teleop_action) -> th.Tensor:
             # Process local transform adjustments
             hand_data = 0
             if teleop_action.is_valid[part_name]:
-                des_world_part_pos, des_world_part_orn = teleop_action[part_name][:3], T.euler2quat(
-                    teleop_action[part_name][3:6]
+                des_world_part_pos, des_world_part_orn = (
+                    teleop_action[part_name][:3],
+                    T.euler2quat(teleop_action[part_name][3:6]),
                 )
                 if part_name in self.arm_names:
                     # compute gripper action

omnigibson/tasks/behavior_task.py

@@ -392,7 +392,6 @@ def _get_obs(self, env):
         for (obj, obj_exist), obj_rpy, obj_rpy_cos, obj_rpy_sin in zip(
             objs_exist.items(), objs_rpy, objs_rpy_cos, objs_rpy_sin
         ):
-
             # TODO: May need to update checking here to USDObject? Or even baseobject?
             # TODO: How to handle systems as part of obs?
             if obj_exist:

omnigibson/utils/asset_conversion_utils.py

@@ -735,8 +735,9 @@ def _process_meta_link(stage, obj_model, meta_link_type, meta_link_infos):
             xform_prim = lazy.omni.isaac.core.prims.xform_prim.XFormPrim(prim_path=prim_path)
 
             # Get the mesh/light pose in the parent link frame
-            mesh_in_parent_link_pos, mesh_in_parent_link_orn = th.tensor(mesh_info["position"]), th.tensor(
-                mesh_info["orientation"]
+            mesh_in_parent_link_pos, mesh_in_parent_link_orn = (
+                th.tensor(mesh_info["position"]),
+                th.tensor(mesh_info["orientation"]),
             )
 
             # Get the mesh/light pose in the meta link frame

omnigibson/utils/backend_utils.py

@@ -21,7 +21,6 @@ def add_compute_function(name, np_function, th_function):
 
 
 class _ComputeBackend:
-
     # Dictionary mapping custom externally-defined function name to function
     _custom_fcns = None
 

omnigibson/utils/motion_planning_utils.py

@@ -54,7 +54,6 @@ def plan_base_motion(
     from ompl import geometric as ompl_geo
 
     class CustomMotionValidator(ob.MotionValidator):
-
         def __init__(self, si, space):
             super(CustomMotionValidator, self).__init__(si)
             self.si = si

omnigibson/utils/python_utils.py

@@ -19,7 +19,6 @@
 
 
 class classproperty:
-
     def __init__(self, fget):
         self.fget = fget
 

omnigibson/utils/sim_utils.py

@@ -163,7 +163,6 @@ def get_contacts(inp_prims):
 
     # Only run the following (expensive) code if we are actively using filtering criteria
     if should_check_collisions or should_filter_collisions:
-
         # First filter out unnecessary collisions
         if should_filter_collisions:
             # First filter pass, remove the intersection of the main contacts and the contacts from the exclusion set minus

omnigibson/utils/teleop_utils.py

@@ -88,8 +88,9 @@ def get_action(self, robot_obs: TeleopObservation) -> th.Tensor:
         # optionally update control marker
         if self.show_control_marker:
             for arm_name in self.control_markers:
-                delta_pos, delta_orn = self.teleop_action[arm_name][:3], T.euler2quat(
-                    th.tensor(self.teleop_action[arm_name][3:6])
+                delta_pos, delta_orn = (
+                    self.teleop_action[arm_name][:3],
+                    T.euler2quat(th.tensor(self.teleop_action[arm_name][3:6])),
                 )
                 rel_target_pos = robot_obs[arm_name][:3] + delta_pos
                 rel_target_orn = T.quat_multiply(delta_orn, robot_obs[arm_name][3:7])

omnigibson/utils/transform_utils.py

@@ -575,7 +575,6 @@ def euler2quat(euler: torch.Tensor) -> torch.Tensor:
 
 @torch.compile
 def quat2euler(q):
-
     single_dim = q.dim() == 1
 
     if single_dim:

omnigibson/utils/transform_utils_np.py

@@ -82,12 +82,12 @@ def unit_vector(data, axis=None, out=None):
 
         >>> v0 = numpy.random.rand(5, 4, 3)
         >>> v1 = unit_vector(v0, axis=-1)
-        >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=2)), 2)
+        >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0 * v0, axis=2)), 2)
         >>> numpy.allclose(v1, v2)
         True
 
         >>> v1 = unit_vector(v0, axis=1)
-        >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=1)), 1)
+        >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0 * v0, axis=1)), 1)
         >>> numpy.allclose(v1, v2)
         True
 
@@ -840,11 +840,11 @@ def rotation_matrix(angle, direction, point=None):
     Returns matrix to rotate about axis defined by point and direction.
 
     E.g.:
-        >>> angle = (random.random() - 0.5) * (2*math.pi)
+        >>> angle = (random.random() - 0.5) * (2 * math.pi)
         >>> direc = numpy.random.random(3) - 0.5
         >>> point = numpy.random.random(3) - 0.5
         >>> R0 = rotation_matrix(angle, direc, point)
-        >>> R1 = rotation_matrix(angle-2*math.pi, direc, point)
+        >>> R1 = rotation_matrix(angle - 2 * math.pi, direc, point)
         >>> is_same_transform(R0, R1)
         True
 
@@ -854,11 +854,10 @@ def rotation_matrix(angle, direction, point=None):
         True
 
         >>> I = numpy.identity(4, numpy.float32)
-        >>> numpy.allclose(I, rotation_matrix(math.pi*2, direc))
+        >>> numpy.allclose(I, rotation_matrix(math.pi * 2, direc))
         True
 
-        >>> numpy.allclose(2., numpy.trace(rotation_matrix(math.pi/2,
-        ...                                                direc, point)))
+        >>> numpy.allclose(2.0, numpy.trace(rotation_matrix(math.pi / 2, direc, point)))
         True
 
     Args:

omnigibson/utils/ui_utils.py

@@ -550,7 +550,6 @@ def _sub_keyboard_event(self, event, *args, **kwargs):
             event.type == lazy.carb.input.KeyboardEventType.KEY_PRESS
             or event.type == lazy.carb.input.KeyboardEventType.KEY_REPEAT
         ):
-
             if event.type == lazy.carb.input.KeyboardEventType.KEY_PRESS and event.input in self.input_to_function:
                 self.input_to_function[event.input]()
 
@@ -763,7 +762,6 @@ def keyboard_event_handler(self, event, *args, **kwargs):
             event.type == lazy.carb.input.KeyboardEventType.KEY_PRESS
             or event.type == lazy.carb.input.KeyboardEventType.KEY_REPEAT
         ):
-
             # Handle special cases
             if (
                 event.input in {lazy.carb.input.KeyboardInput.KEY_1, lazy.carb.input.KeyboardInput.KEY_2}
@@ -883,7 +881,6 @@ def get_teleop_action(self):
 
         # Possibly set the persistent gripper action
         if len(self.binary_grippers) > 0 and self.keypress_mapping[lazy.carb.input.KeyboardInput.T]["val"] is not None:
-
             for i, binary_gripper in enumerate(self.binary_grippers):
                 # Possibly update the stored value if the toggle gripper key has been pressed and
                 # it's the active gripper being controlled

omnigibson/utils/urdfpy_utils.py

@@ -3323,20 +3323,20 @@ def animate(self, cfg_trajectory=None, loop_time=3.0, use_collision=False):
         You can run this without specifying a ``cfg_trajectory`` to view
         the full articulation of the URDF
 
-        >>> robot = URDF.load('ur5.urdf')
+        >>> robot = URDF.load("ur5.urdf")
         >>> robot.animate()
 
         .. image:: /_static/ur5.gif
 
-        >>> ct = {'shoulder_pan_joint': [0.0, 2 * np.pi]}
+        >>> ct = {"shoulder_pan_joint": [0.0, 2 * np.pi]}
         >>> robot.animate(cfg_trajectory=ct)
 
         .. image:: /_static/ur5_shoulder.gif
 
         >>> ct = {
-        ...    'shoulder_pan_joint' : [-np.pi / 4, np.pi / 4],
-        ...    'shoulder_lift_joint' : [0.0, -np.pi / 2.0],
-        ...    'elbow_joint' : [0.0, np.pi / 2.0]
+        ...     "shoulder_pan_joint": [-np.pi / 4, np.pi / 4],
+        ...     "shoulder_lift_joint": [0.0, -np.pi / 2.0],
+        ...     "elbow_joint": [0.0, np.pi / 2.0],
         ... }
         >>> robot.animate(cfg_trajectory=ct)
 

tests/test_robot_states_flatcache.py

@@ -145,7 +145,6 @@ def test_robot_load_drive():
 
     # Iterate over all robots and test their motion
     for robot_name, robot_cls in REGISTERED_ROBOTS.items():
-
         if robot_name in ["FrankaMounted", "Stretch"]:
             # TODO: skipping FrankaMounted and Stretch for now because CI doesn't have the required assets
             continue
@@ -214,7 +213,6 @@ def test_robot_load_drive():
 
 
 def test_grasping_mode():
-
     if og.sim is None:
         # Set global flags
         gm.ENABLE_FLATCACHE = True

tests/test_scene_graph.py

@@ -11,7 +11,6 @@
 
 
 def test_scene_graph():
-
     if og.sim is None:
         # Set global flags
         gm.ENABLE_OBJECT_STATES = True