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omnigibson/__init__.py

@@ -1,21 +1,21 @@
+import builtins
 import logging
 import os
 import shutil
 import signal
 import tempfile
-import builtins
+
+from omnigibson.controllers import REGISTERED_CONTROLLERS
+from omnigibson.envs import Environment
 
 # TODO: Need to fix somehow -- omnigibson gets imported first BEFORE we can actually modify the macros
 from omnigibson.macros import gm
-
-from omnigibson.envs import Environment
-from omnigibson.scenes import REGISTERED_SCENES
 from omnigibson.objects import REGISTERED_OBJECTS
 from omnigibson.robots import REGISTERED_ROBOTS
-from omnigibson.controllers import REGISTERED_CONTROLLERS
-from omnigibson.tasks import REGISTERED_TASKS
+from omnigibson.scenes import REGISTERED_SCENES
 from omnigibson.sensors import ALL_SENSOR_MODALITIES
 from omnigibson.simulator import launch_simulator as launch
+from omnigibson.tasks import REGISTERED_TASKS
 
 # Create logger
 logging.basicConfig(format='[%(levelname)s] [%(name)s] %(message)s')
@@ -27,6 +27,7 @@
 
 # Always enable nest_asyncio because MaterialPrim calls asyncio.run()
 import nest_asyncio
+
 nest_asyncio.apply()
 
 __version__ = "1.0.0"

omnigibson/action_primitives/action_primitive_set_base.py

@@ -4,8 +4,8 @@
 from typing import List
 
 from future.utils import with_metaclass
-from omnigibson import Environment
 
+from omnigibson import Environment
 from omnigibson.robots import BaseRobot
 from omnigibson.scenes.interactive_traversable_scene import InteractiveTraversableScene
 from omnigibson.tasks.task_base import BaseTask

omnigibson/action_primitives/starter_semantic_action_primitives.py

@@ -5,50 +5,47 @@
 See provided tiago_primitives.yaml config file for an example. See examples/action_primitives for
 runnable examples.
 """
-from functools import cached_property
 import inspect
 import logging
 import random
-from aenum import IntEnum, auto
+from functools import cached_property
 from math import ceil
-import cv2
-from matplotlib import pyplot as plt
 
+import cv2
 import gym
 import numpy as np
+from aenum import IntEnum, auto
+from matplotlib import pyplot as plt
 from scipy.spatial.transform import Rotation, Slerp
 
 import omnigibson as og
 import omnigibson.lazy as lazy
+import omnigibson.utils.transform_utils as T
 from omnigibson import object_states
-from omnigibson.action_primitives.action_primitive_set_base import ActionPrimitiveError, ActionPrimitiveErrorGroup, BaseActionPrimitiveSet
-from omnigibson.controllers import JointController, DifferentialDriveController
+from omnigibson.action_primitives.action_primitive_set_base import (
+    ActionPrimitiveError,
+    ActionPrimitiveErrorGroup,
+    BaseActionPrimitiveSet,
+)
+from omnigibson.controllers import DifferentialDriveController, JointController
+from omnigibson.controllers.controller_base import ControlType
 from omnigibson.macros import create_module_macros
-from omnigibson.utils.object_state_utils import sample_cuboid_for_predicate
 from omnigibson.objects.object_base import BaseObject
+from omnigibson.objects.usd_object import USDObject
 from omnigibson.robots import BaseRobot, Fetch, Tiago
 from omnigibson.tasks.behavior_task import BehaviorTask
+from omnigibson.utils.control_utils import FKSolver, IKSolver
+from omnigibson.utils.grasping_planning_utils import get_grasp_poses_for_object_sticky, get_grasp_position_for_open
 from omnigibson.utils.motion_planning_utils import (
-    plan_base_motion,
+    detect_robot_collision_in_sim,
     plan_arm_motion,
     plan_arm_motion_ik,
+    plan_base_motion,
     set_base_and_detect_collision,
-    detect_robot_collision_in_sim
-)
-
-import omnigibson.utils.transform_utils as T
-from omnigibson.utils.control_utils import IKSolver
-from omnigibson.utils.grasping_planning_utils import (
-    get_grasp_poses_for_object_sticky,
-    get_grasp_position_for_open
 )
-from omnigibson.controllers.controller_base import ControlType
-from omnigibson.utils.control_utils import FKSolver
-
+from omnigibson.utils.object_state_utils import sample_cuboid_for_predicate
 from omnigibson.utils.ui_utils import create_module_logger
 
-from omnigibson.objects.usd_object import USDObject
-
 m = create_module_macros(module_path=__file__)
 
 m.DEFAULT_BODY_OFFSET_FROM_FLOOR = 0.05

omnigibson/action_primitives/symbolic_semantic_action_primitives.py

@@ -4,17 +4,16 @@
 objects directly into their post-condition states. Useful for learning high-level methods.
 """
 
-from aenum import IntEnum, auto
-
 import numpy as np
-from omnigibson.robots.robot_base import BaseRobot
-from omnigibson.systems.system_base import REGISTERED_SYSTEMS
-from omnigibson.transition_rules import REGISTERED_RULES, TransitionRuleAPI
+from aenum import IntEnum, auto
 
 from omnigibson import object_states
 from omnigibson.action_primitives.action_primitive_set_base import ActionPrimitiveError, ActionPrimitiveErrorGroup
 from omnigibson.action_primitives.starter_semantic_action_primitives import StarterSemanticActionPrimitives
 from omnigibson.objects import DatasetObject
+from omnigibson.robots.robot_base import BaseRobot
+from omnigibson.systems.system_base import REGISTERED_SYSTEMS
+from omnigibson.transition_rules import REGISTERED_RULES, TransitionRuleAPI
 
 
 class SymbolicSemanticActionPrimitiveSet(IntEnum):

omnigibson/controllers/__init__.py

@@ -2,18 +2,18 @@
     REGISTERED_CONTROLLERS,
     REGISTERED_LOCOMOTION_CONTROLLERS,
     REGISTERED_MANIPULATION_CONTROLLERS,
-    IsGraspingState,
     ControlType,
+    GripperController,
+    IsGraspingState,
     LocomotionController,
     ManipulationController,
-    GripperController,
 )
 from omnigibson.controllers.dd_controller import DifferentialDriveController
-from omnigibson.controllers.osc_controller import OperationalSpaceController
 from omnigibson.controllers.ik_controller import InverseKinematicsController
 from omnigibson.controllers.joint_controller import JointController
 from omnigibson.controllers.multi_finger_gripper_controller import MultiFingerGripperController
 from omnigibson.controllers.null_joint_controller import NullJointController
+from omnigibson.controllers.osc_controller import OperationalSpaceController
 from omnigibson.utils.python_utils import assert_valid_key
 
 

omnigibson/controllers/controller_base.py

@@ -3,7 +3,7 @@
 
 import numpy as np
 
-from omnigibson.utils.python_utils import classproperty, assert_valid_key, Serializable, Registerable, Recreatable
+from omnigibson.utils.python_utils import Recreatable, Registerable, Serializable, assert_valid_key, classproperty
 
 # Global dicts that will contain mappings
 REGISTERED_CONTROLLERS = dict()

omnigibson/controllers/ik_controller.py

@@ -1,11 +1,11 @@
 import numpy as np
-from omnigibson.macros import gm, create_module_macros
 
 import omnigibson.utils.transform_utils as T
 from omnigibson.controllers import ControlType, ManipulationController
 from omnigibson.controllers.joint_controller import JointController
-from omnigibson.utils.processing_utils import MovingAverageFilter
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.utils.control_utils import IKSolver
+from omnigibson.utils.processing_utils import MovingAverageFilter
 from omnigibson.utils.python_utils import assert_valid_key
 from omnigibson.utils.ui_utils import create_module_logger
 

omnigibson/controllers/joint_controller.py

@@ -1,11 +1,15 @@
 import numpy as np
 
-from omnigibson.controllers import IsGraspingState, ControlType, LocomotionController, ManipulationController, \
-    GripperController
-from omnigibson.utils.python_utils import assert_valid_key
 import omnigibson.utils.transform_utils as T
-
+from omnigibson.controllers import (
+    ControlType,
+    GripperController,
+    IsGraspingState,
+    LocomotionController,
+    ManipulationController,
+)
 from omnigibson.macros import create_module_macros
+from omnigibson.utils.python_utils import assert_valid_key
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)

omnigibson/controllers/multi_finger_gripper_controller.py

@@ -1,7 +1,7 @@
 import numpy as np
 
+from omnigibson.controllers import ControlType, GripperController, IsGraspingState
 from omnigibson.macros import create_module_macros
-from omnigibson.controllers import IsGraspingState, ControlType, GripperController
 from omnigibson.utils.python_utils import assert_valid_key
 
 VALID_MODES = {

omnigibson/controllers/osc_controller.py

@@ -5,7 +5,7 @@
 from omnigibson.controllers import ControlType, ManipulationController
 from omnigibson.utils.control_utils import orientation_error
 from omnigibson.utils.processing_utils import MovingAverageFilter
-from omnigibson.utils.python_utils import nums2array, assert_valid_key
+from omnigibson.utils.python_utils import assert_valid_key, nums2array
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger

omnigibson/envs/__init__.py

@@ -1,2 +1,2 @@
 from omnigibson.envs.env_base import Environment
-from omnigibson.envs.env_wrapper import EnvironmentWrapper, create_wrapper, REGISTERED_ENV_WRAPPERS
+from omnigibson.envs.env_wrapper import REGISTERED_ENV_WRAPPERS, EnvironmentWrapper, create_wrapper

omnigibson/envs/env_base.py

@@ -1,22 +1,30 @@
+from copy import deepcopy
+
 import gym
 import numpy as np
-from copy import deepcopy
 
 import omnigibson as og
+from omnigibson.macros import gm
 from omnigibson.objects import REGISTERED_OBJECTS
 from omnigibson.robots import REGISTERED_ROBOTS
 from omnigibson.scene_graphs.graph_builder import SceneGraphBuilder
-from omnigibson.simulator import launch_simulator
-from omnigibson.tasks import REGISTERED_TASKS
 from omnigibson.scenes import REGISTERED_SCENES
 from omnigibson.sensors import create_sensor
-from omnigibson.utils.gym_utils import GymObservable, recursively_generate_flat_dict, recursively_generate_compatible_dict
+from omnigibson.simulator import launch_simulator
+from omnigibson.tasks import REGISTERED_TASKS
 from omnigibson.utils.config_utils import parse_config
+from omnigibson.utils.gym_utils import (
+    GymObservable,
+    recursively_generate_compatible_dict,
+    recursively_generate_flat_dict,
+)
+from omnigibson.utils.python_utils import (
+    Recreatable,
+    assert_valid_key,
+    create_class_from_registry_and_config,
+    merge_nested_dicts,
+)
 from omnigibson.utils.ui_utils import create_module_logger
-from omnigibson.utils.python_utils import assert_valid_key, merge_nested_dicts, create_class_from_registry_and_config,\
-    Recreatable
-from omnigibson.macros import gm
-
 
 # Create module logger
 log = create_module_logger(module_name=__name__)

omnigibson/envs/env_wrapper.py

@@ -1,8 +1,8 @@
-from omnigibson.utils.python_utils import Wrapper
-from omnigibson.utils.python_utils import Registerable, classproperty, create_class_from_registry_and_config
-from omnigibson.utils.ui_utils import create_module_logger
 from copy import deepcopy
 
+from omnigibson.utils.python_utils import Registerable, Wrapper, classproperty, create_class_from_registry_and_config
+from omnigibson.utils.ui_utils import create_module_logger
+
 # Global dicts that will contain mappings
 REGISTERED_ENV_WRAPPERS = dict()
 

omnigibson/examples/action_primitives/rs_int_example.py

@@ -1,10 +1,14 @@
 import os
-import yaml
+
 import numpy as np
+import yaml
 
 import omnigibson as og
+from omnigibson.action_primitives.starter_semantic_action_primitives import (
+    StarterSemanticActionPrimitives,
+    StarterSemanticActionPrimitiveSet,
+)
 from omnigibson.macros import gm
-from omnigibson.action_primitives.starter_semantic_action_primitives import StarterSemanticActionPrimitives, StarterSemanticActionPrimitiveSet
 
 # Don't use GPU dynamics and use flatcache for performance boost
 # gm.USE_GPU_DYNAMICS = True

omnigibson/examples/action_primitives/solve_simple_task.py

@@ -1,10 +1,14 @@
 import os
-import yaml
+
 import numpy as np
+import yaml
 
 import omnigibson as og
+from omnigibson.action_primitives.starter_semantic_action_primitives import (
+    StarterSemanticActionPrimitives,
+    StarterSemanticActionPrimitiveSet,
+)
 from omnigibson.macros import gm
-from omnigibson.action_primitives.starter_semantic_action_primitives import StarterSemanticActionPrimitives, StarterSemanticActionPrimitiveSet
 
 # Don't use GPU dynamics and use flatcache for performance boost
 # gm.USE_GPU_DYNAMICS = True

omnigibson/examples/action_primitives/wip_solve_behavior_task.py

@@ -1,10 +1,14 @@
 import os
-import yaml
+
 import numpy as np
+import yaml
 
 import omnigibson as og
+from omnigibson.action_primitives.starter_semantic_action_primitives import (
+    StarterSemanticActionPrimitives,
+    StarterSemanticActionPrimitiveSet,
+)
 from omnigibson.macros import gm
-from omnigibson.action_primitives.starter_semantic_action_primitives import StarterSemanticActionPrimitives, StarterSemanticActionPrimitiveSet
 
 # Don't use GPU dynamics and use flatcache for performance boost
 # gm.USE_GPU_DYNAMICS = True

omnigibson/examples/learning/navigation_policy_demo.py

@@ -5,7 +5,10 @@
 """
 
 import argparse
-import os, time, cv2
+import os
+import time
+
+import cv2
 import yaml
 
 import omnigibson as og
@@ -15,15 +18,15 @@
 
 try:
     import gym
+    import tensorboard
     import torch as th
     import torch.nn as nn
-    import tensorboard
     from stable_baselines3 import PPO
+    from stable_baselines3.common.callbacks import CallbackList, CheckpointCallback, EvalCallback
     from stable_baselines3.common.evaluation import evaluate_policy
     from stable_baselines3.common.preprocessing import maybe_transpose
     from stable_baselines3.common.torch_layers import BaseFeaturesExtractor
     from stable_baselines3.common.utils import set_random_seed
-    from stable_baselines3.common.callbacks import CallbackList, CheckpointCallback, EvalCallback
 
 except ModuleNotFoundError:
     og.log.error("torch, stable-baselines3, or tensorboard is not installed. "

omnigibson/examples/object_states/attachment_demo.py

@@ -1,5 +1,5 @@
-import yaml
 import numpy as np
+import yaml
 
 import omnigibson as og
 from omnigibson.macros import gm

omnigibson/examples/object_states/dicing_demo.py

@@ -1,8 +1,8 @@
 import numpy as np
 
 import omnigibson as og
-from omnigibson.macros import gm
 import omnigibson.utils.transform_utils as T
+from omnigibson.macros import gm
 
 # Make sure object states, GPU dynamics, and transition rules are enabled
 gm.ENABLE_OBJECT_STATES = True

omnigibson/examples/object_states/folded_unfolded_state_demo.py

@@ -1,9 +1,9 @@
-from omnigibson.utils.constants import PrimType
-from omnigibson.object_states import Folded, Unfolded
-from omnigibson.macros import gm
 import numpy as np
 
 import omnigibson as og
+from omnigibson.macros import gm
+from omnigibson.object_states import Folded, Unfolded
+from omnigibson.utils.constants import PrimType
 
 # Make sure object states and GPU dynamics are enabled (GPU dynamics needed for cloth)
 gm.ENABLE_OBJECT_STATES = True

omnigibson/examples/object_states/heat_source_or_sink_demo.py

@@ -1,4 +1,5 @@
 import numpy as np
+
 import omnigibson as og
 from omnigibson import object_states
 from omnigibson.macros import gm

omnigibson/examples/object_states/heated_state_demo.py

@@ -1,4 +1,5 @@
 import numpy as np
+
 import omnigibson as og
 from omnigibson import object_states
 from omnigibson.macros import gm