Fix array conversion

omnigibson/robots/tiago.py

@@ -710,6 +710,10 @@ def set_position_orientation(self, position=None, orientation=None):
         if orientation is None:
             orientation = current_orientation
 
+        # Make sure position and orientation are arrays (otherwise set attribute fails)
+        position = np.asarray(position)
+        orientation = np.asarray(orientation)
+
         # If the simulator is playing, set the 6 base joints to achieve the desired pose of base_footprint link frame
         if self._dc is not None and self._dc.is_simulating():
             # Find the relative transformation from base_footprint_link ("base_footprint") frame to root_link
@@ -733,11 +737,6 @@ def set_position_orientation(self, position=None, orientation=None):
             super().set_position_orientation(position, orientation)
             # Move the joint frame for the world_base_joint
             if self._world_base_fixed_joint_prim is not None:
-                # Position and orientation are lists when restoring scene from json. Cast them to np.array
-                if isinstance(position, list):
-                    position = np.array(position)
-                if isinstance(orientation, list):
-                    orientation = np.array(orientation)
                 self._world_base_fixed_joint_prim.GetAttribute("physics:localPos0").Set(tuple(position))
                 self._world_base_fixed_joint_prim.GetAttribute("physics:localRot0").Set(Gf.Quatf(*orientation[[3, 0, 1, 2]]))