From 0c0f8474285475fcee2910b9ee4e9cc554d520b2 Mon Sep 17 00:00:00 2001 From: John Turner <7strbass@gmail.com> Date: Tue, 29 Oct 2024 11:44:40 -0400 Subject: [PATCH] --clean up imports Apparently python 3 doesn't like class-scope imports. --- src_python/habitat_sim/utils/sim_utils.py | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/src_python/habitat_sim/utils/sim_utils.py b/src_python/habitat_sim/utils/sim_utils.py index 5d6882589d..79c34592f9 100644 --- a/src_python/habitat_sim/utils/sim_utils.py +++ b/src_python/habitat_sim/utils/sim_utils.py @@ -10,6 +10,9 @@ import magnum as mn import numpy as np +from habitat.articulated_agents.robots.spot_robot import SpotRobot +from habitat.datasets.rearrange.navmesh_utils import get_largest_island_index +from omegaconf import DictConfig import habitat_sim from habitat_sim import physics as HSim_Phys @@ -18,10 +21,6 @@ # Class to instantiate and maneuver spot from a viewer # DEPENDENT ON HABITAT-LAB - class SpotAgent: - from habitat.articulated_agents.robots.spot_robot import SpotRobot - from habitat.datasets.rearrange.navmesh_utils import get_largest_island_index - from omegaconf import DictConfig - SPOT_DIR = "data/robots/hab_spot_arm/urdf/hab_spot_arm.urdf" if not os.path.isfile(SPOT_DIR): # support other layout @@ -255,10 +254,8 @@ def __init__(self, sim: habitat_sim.Simulator): def load_and_init(self): # add the robot to the world via the wrapper robot_path = SpotAgent.SPOT_DIR - agent_config = SpotAgent.DictConfig({"articulated_agent_urdf": robot_path}) - self.spot: SpotAgent.SpotRobot = SpotAgent.SpotRobot( - agent_config, self.sim, fixed_base=True - ) + agent_config = DictConfig({"articulated_agent_urdf": robot_path}) + self.spot: SpotRobot = SpotRobot(agent_config, self.sim, fixed_base=True) self.spot.reconfigure() self.spot.update() self.spot_action: SpotAgent.ExtractedBaseVelNonCylinderAction = ( @@ -323,7 +320,7 @@ def base_pos(self): def place_on_navmesh(self): if self.sim.pathfinder.is_loaded: - self.largest_island_ix = SpotAgent.get_largest_island_index( + self.largest_island_ix = get_largest_island_index( pathfinder=self.sim.pathfinder, sim=self.sim, allow_outdoor=False,