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macros

Set of macros to use globally for OmniGibson. These are generally magic numbers that were tuned heuristically.

NOTE: This is generally decentralized -- the monolithic @settings variable is created here with some global values, but submodules within OmniGibson may import this dictionary and add to it dynamically

create_module_macros(module_path)

Creates a dictionary that can be populated with module macros based on the module's @module_path

Parameters:

Name Type Description Default
module_path str

Relative path from the package root directory pointing to the module. This will be parsed to generate the appropriate sub-macros dictionary, e.g., for module "dirty" in omnigibson/object_states_dirty.py, this would generate a dictionary existing at macros.object_states.dirty

 required

Returns:

Name Type Description
Dict

addict dictionary which can be populated with values
Source code in omnigibson/macros.py 
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def create_module_macros(module_path):
    """
    Creates a dictionary that can be populated with module macros based on the module's @module_path

    Args:
        module_path (str): Relative path from the package root directory pointing to the module. This will be parsed
            to generate the appropriate sub-macros dictionary, e.g., for module "dirty" in
            omnigibson/object_states_dirty.py, this would generate a dictionary existing at macros.object_states.dirty

    Returns:
        Dict: addict dictionary which can be populated with values
    """
    # Sanity check module path, make sure omnigibson/ is in the path
    module_path = pathlib.Path(module_path)
    omnigibson_path = pathlib.Path(__file__).parent

    # Trim the .py, and anything before and including omnigibson/, and split into its appropriate parts
    try:
        subsections = module_path.with_suffix("").relative_to(omnigibson_path).parts
    except ValueError:
        raise ValueError("module_path is expected to be a filepath including the omnigibson root directory, got: {module_path}!")

    # Create and return the generated sub-dictionary
    def _recursively_get_or_create_dict(dic, keys):
        # If no entry is in @keys, it returns @dic
        # Otherwise, checks whether the dictionary contains the first entry in @keys, if so, it grabs the
        # corresponding nested dictionary, otherwise, generates a new Dict() as the value
        # It then recurisvely calls this function with the new dic and the remaining keys
        if len(keys) == 0:
            return dic
        else:
            key = keys[0]
            if key not in dic:
                dic[key] = Dict()
            return _recursively_get_or_create_dict(dic=dic[key], keys=keys[1:])

    return _recursively_get_or_create_dict(dic=macros, keys=subsections)