Merge branch 'og-develop' of https://github.com/StanfordVL/OmniGibson …

…into rewrite-particle-modifier-demo

omnigibson/examples/object_states/particle_applier_remover_demo.py

@@ -153,23 +153,23 @@ def main(random_selection=False, headless=False, short_exec=False):
     # Set the modifier object to be in position to modify particles
     if modifier_type == "particleRemover" and method_type == "Projection":
         tool.set_position_orientation(
-            position=np.array([0, 0.3, 1.45]),
-            orientation=np.array([0, 0, 0, 1.0]),
+            position=[0, 0.3, 1.45],
+            orientation=[0, 0, 0, 1.0],
         )
     elif modifier_type == "particleRemover" and method_type == "Adjacency":
         tool.set_position_orientation(
-            position=np.array([0, 0.3, 1.175]),
-            orientation=np.array([0, 0, 0, 1.0]),
+            position=[0, 0.3, 1.175],
+            orientation=[0, 0, 0, 1.0],
         )
     elif modifier_type == "particleApplier" and particle_type == "water":
         tool.set_position_orientation(
-            position=np.array([0, 0.3, 1.4]),
-            orientation=np.array([0.3827, 0, 0, 0.9239]),
+            position=[0, 0.3, 1.4],
+            orientation=[0.3827, 0, 0, 0.9239],
         )
     else:
         tool.set_position_orientation(
-            position=np.array([0, 0.3, 1.5]),
-            orientation=np.array([0.7071, 0, 0.7071, 0]),
+            position=[0, 0.3, 1.5],
+            orientation=[0.7071, 0, 0.7071, 0],
         )
 
     # Move object in square around table
@@ -181,8 +181,8 @@ def main(random_selection=False, headless=False, short_exec=False):
     ]
     for t, delta in deltas:
         for _ in range(t):
-            tool.set_position(tool.get_position() + delta)
-            env.step(np.array([]))
+            tool.set_position_orientation(position=tool.get_position_orientation()[0] + delta)
+            env.step(th.empty(0))
 
     # Always shut down environment at the end
     og.clear()