Adds missing __future__ import in utils.warp.ops

isaac-sim · Nov 2, 2023 · 47e4800 · 47e4800
1 parent c0afa8a
commit 47e4800
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Showing 17 changed files with 28 additions and 25 deletions.
diff --git a/source/extensions/omni.isaac.orbit/config/extension.toml b/source/extensions/omni.isaac.orbit/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.33"
+version = "0.9.34"
 
 # Description
 title = "ORBIT framework for Robot Learning"

diff --git a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.9.34 (2023-11-02)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Added missing import of ``from __future__ import annotations`` in the :mod:`omni.isaac.orbit.utils.warp`
+  module. This is needed to have a consistent behavior across Python versions.
+
+
 0.9.33 (2023-11-02)
 ~~~~~~~~~~~~~~~~~~~
 

diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/sensors/camera/camera_cfg.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/sensors/camera/camera_cfg.py
@@ -9,7 +9,6 @@
 
 from dataclasses import MISSING
 
-# omni-isaac-orbit
 from omni.isaac.orbit.utils import configclass
 
 __all__ = ["PinholeCameraCfg", "FisheyeCameraCfg"]

diff --git a/...ensions/omni.isaac.orbit/omni/isaac/orbit/compat/sensors/height_scanner/height_scanner.py b/...ensions/omni.isaac.orbit/omni/isaac/orbit/compat/sensors/height_scanner/height_scanner.py
@@ -15,7 +15,6 @@
 import omni.isaac.core.utils.stage as stage_utils
 from omni.isaac.core.prims import XFormPrim
 
-# omni-isaac-orbit
 from omni.isaac.orbit.utils.math import convert_quat
 
 from ..sensor_base import SensorBase

diff --git a/...ons/omni.isaac.orbit/omni/isaac/orbit/compat/sensors/height_scanner/height_scanner_cfg.py b/...ons/omni.isaac.orbit/omni/isaac/orbit/compat/sensors/height_scanner/height_scanner_cfg.py
@@ -9,7 +9,6 @@
 
 from dataclasses import MISSING
 
-# omni-isaac-orbit
 from omni.isaac.orbit.utils import configclass
 
 

diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/__init__.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/__init__.py
@@ -3,10 +3,10 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 """Operations based on warp."""
 
+from __future__ import annotations
+
 from .ops import convert_to_warp_mesh, raycast_mesh
 
 __all__ = [

diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/kernels.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/kernels.py
@@ -5,6 +5,8 @@
 
 """Custom kernels for warp."""
 
+from __future__ import annotations
+
 import warp as wp
 
 

diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/ops.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/ops.py
@@ -5,6 +5,8 @@
 
 """Wrapping around warp kernels for compatibility with torch tensors."""
 
+from __future__ import annotations
+
 import numpy as np
 import torch
 

diff --git a/...ac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/flat_env_cfg.py b/...ac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/flat_env_cfg.py
@@ -10,8 +10,7 @@
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_B_CFG
+from omni.isaac.orbit.assets.config.anymal import ANYMAL_B_CFG  # isort: skip
 
 
 @configclass

diff --git a/...c.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/rough_env_cfg.py b/...c.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/rough_env_cfg.py
@@ -10,8 +10,7 @@
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_B_CFG
+from omni.isaac.orbit.assets.config.anymal import ANYMAL_B_CFG  # isort: skip
 
 
 @configclass

diff --git a/...ac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/flat_env_cfg.py b/...ac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/flat_env_cfg.py
@@ -10,8 +10,7 @@
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
+from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 @configclass

diff --git a/...c.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/rough_env_cfg.py b/...c.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/rough_env_cfg.py
@@ -10,8 +10,7 @@
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
+from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 @configclass

diff --git a/...ac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/flat_env_cfg.py b/...ac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/flat_env_cfg.py
@@ -10,8 +10,7 @@
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_D_CFG
+from omni.isaac.orbit.assets.config.anymal import ANYMAL_D_CFG  # isort: skip
 
 
 @configclass

diff --git a/...c.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py b/...c.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py
@@ -10,8 +10,7 @@
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_D_CFG
+from omni.isaac.orbit.assets.config.anymal import ANYMAL_D_CFG  # isort: skip
 
 
 @configclass

diff --git a/....orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/flat_env_cfg.py b/....orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/flat_env_cfg.py
@@ -10,8 +10,7 @@
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config.unitree import UNITREE_A1_CFG
+from omni.isaac.orbit.assets.config.unitree import UNITREE_A1_CFG  # isort: skip
 
 
 @configclass

diff --git a/...orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py b/...orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py
@@ -10,8 +10,7 @@
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config.unitree import UNITREE_A1_CFG
+from omni.isaac.orbit.assets.config.unitree import UNITREE_A1_CFG  # isort: skip
 
 
 @configclass
@@ -32,7 +31,8 @@ def __post_init__(self):
         self.randomization.add_base_mass = None
 
         # change body and joint names
-        self.rewards.feet_air_time.params["sensor_cfg"].body_names = ".*calf"  # TODO: Change to .*foot
+        # TODO: Change to .*foot once we make a new USD for the robot
+        self.rewards.feet_air_time.params["sensor_cfg"].body_names = ".*calf"
         self.rewards.undesired_contacts.params["sensor_cfg"].body_names = [".*thigh", ".*hip"]
 
 

diff --git a/...ons/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/velocity_env_cfg.py b/...ons/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/velocity_env_cfg.py
@@ -30,8 +30,7 @@
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG
+from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG  # isort: skip
 
 
 ##