More fixes.

StanfordVL · Oct 28, 2023 · 846aa9d · 846aa9d
1 parent 1f582d6
commit 846aa9d
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Showing 6 changed files with 84 additions and 84 deletions.
diff --git a/omnigibson/action_primitives/starter_semantic_action_primitives.py b/omnigibson/action_primitives/starter_semantic_action_primitives.py
diff --git a/omnigibson/configs/tiago_primitives.yaml b/omnigibson/configs/tiago_primitives.yaml
@@ -58,14 +58,12 @@ robots:
         command_input_limits: [-1, 1]
         command_output_limits: null
         use_delta_commands: true
-        use_single_command: true
       gripper_right:
         name: JointController
         motor_type: position
         command_input_limits: [-1, 1]
         command_output_limits: null
         use_delta_commands: true
-        use_single_command: true
       camera:
         name: JointController
         motor_type: "velocity"

diff --git a/omnigibson/controllers/joint_controller.py b/omnigibson/controllers/joint_controller.py
@@ -27,7 +27,6 @@ def __init__(
         command_output_limits="default",
         use_delta_commands=False,
         compute_delta_in_quat_space=None,
-        use_single_command=False,
     ):
         """
         Args:
@@ -57,17 +56,13 @@ def __init__(
                 joints that need to be processed in quaternion space to avoid gimbal lock issues normally faced by
                 3 DOF rotation joints. Each group needs to consist of three idxes corresponding to the indices in
                 the input space. This is only used in the delta_commands mode.
-            use_single_command (bool): whether all related joints should be controlled with one (scaled) input or
-                independent values individually. If True, then the inputted command should be a single value.
         """
         # Store arguments
         assert_valid_key(key=motor_type.lower(), valid_keys=ControlType.VALID_TYPES_STR, name="motor_type")
         self._motor_type = motor_type.lower()
         self._use_delta_commands = use_delta_commands
         self._compute_delta_in_quat_space = [] if compute_delta_in_quat_space is None else compute_delta_in_quat_space
 
-        self._use_single_command = use_single_command
-
         # When in delta mode, it doesn't make sense to infer output range using the joint limits (since that's an
         # absolute range and our values are relative). So reject the default mode option in that case.
         assert not (
@@ -151,4 +146,4 @@ def control_type(self):
 
     @property
     def command_dim(self):
-        return 1 if self._use_single_command else len(self.dof_idx)
+        return len(self.dof_idx)
diff --git a/omnigibson/scene_graphs/graph_builder.py b/omnigibson/scene_graphs/graph_builder.py
@@ -13,10 +13,6 @@
 from omnigibson.object_states.object_state_base import AbsoluteObjectState, BooleanStateMixin, RelativeObjectState
 from omnigibson.utils import transform_utils as T
 
-m = create_module_macros(module_path=__file__)
-
-m.DRAW_EVERY = 1
-
 
 def _formatted_aabb(obj):
     return T.pose2mat((obj.aabb_center, [0, 0, 0, 1])), obj.aabb_extent

diff --git a/tests/test_primitives.py b/tests/test_primitives.py
@@ -66,15 +66,13 @@ def primitive_tester(load_object_categories, objects, primitives, primitives_arg
                         "command_input_limits": [-1, 1],
                         "command_output_limits": None,
                         "use_delta_commands": True,
-                        "use_single_command": True
                     },
                     "gripper_right": {
                         "name": "JointController",
                         "motor_type": "position",
                         "command_input_limits": [-1, 1],
                         "command_output_limits": None,
                         "use_delta_commands": True,
-                        "use_single_command": True
                     },
                     "camera": {
                         "name": "JointController",

diff --git a/tests/test_symbolic_primitives.py b/tests/test_symbolic_primitives.py
@@ -65,7 +65,6 @@ def start_env():
             ],
             "command_output_limits": None,
             "use_delta_commands": True,
-            "use_single_command": True
           },
           "camera": {
             "name": "JointController",