Merge pull request #611 from StanfordVL/fix/sampling-fixes

fix bugs during sampling
StanfordVL · Feb 17, 2024 · 2782c6e · 2782c6e
2 parents ca095ea + b41dad1
commit 2782c6e
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Showing 5 changed files with 16 additions and 8 deletions.
diff --git a/omnigibson/object_states/slicer_active.py b/omnigibson/object_states/slicer_active.py
@@ -163,8 +163,8 @@ def state_size(self):
     # For this state, we simply store its value.
     def _dump_state(self):
         state = super()._dump_state()
-        state["previously_touching"] = self.PREVIOUSLY_TOUCHING[self.OBJ_IDXS[self.obj.name]]
-        state["delay_counter"] = self.DELAY_COUNTER[self.OBJ_IDXS[self.obj.name]]
+        state["previously_touching"] = bool(self.PREVIOUSLY_TOUCHING[self.OBJ_IDXS[self.obj.name]])
+        state["delay_counter"] = int(self.DELAY_COUNTER[self.OBJ_IDXS[self.obj.name]])
 
         return state
 

diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py
@@ -700,6 +700,9 @@ def play(self):
                             if robot.initialized:
                                 robot.update_controller_mode()
 
+                        # Also refresh any transition rules that became stale while sim was stopped
+                        TransitionRuleAPI.refresh_all_rules()
+
                 # Additionally run non physics things
                 self._non_physics_step()
 

diff --git a/omnigibson/systems/macro_particle_system.py b/omnigibson/systems/macro_particle_system.py
@@ -630,6 +630,7 @@ def _compute_batch_particles_position_orientation(cls, particles, local=False):
                         # get the transform, and not obj.get_local_pose() which will give us the local pose of the
                         # root link!
                         link_tfs[obj] = T.pose2mat(XFormPrim.get_local_pose(obj))
+                    link = obj
                 else:
                     link = cls._particles_info[name]["link"]
                     if link not in link_tfs:

diff --git a/omnigibson/systems/system_base.py b/omnigibson/systems/system_base.py
@@ -142,8 +142,9 @@ def initialize(cls):
         SYSTEM_REGISTRY.add(obj=cls)
 
         # Avoid circular import
-        from omnigibson.transition_rules import TransitionRuleAPI
-        TransitionRuleAPI.refresh_all_rules()
+        if og.sim.is_playing():
+            from omnigibson.transition_rules import TransitionRuleAPI
+            TransitionRuleAPI.refresh_all_rules()
 
         # Run any callbacks
         for callback in _CALLBACKS_ON_SYSTEM_INIT.values():
@@ -224,8 +225,9 @@ def _clear(cls):
         SYSTEM_REGISTRY.remove(obj=cls)
 
         # Avoid circular import
-        from omnigibson.transition_rules import TransitionRuleAPI
-        TransitionRuleAPI.refresh_all_rules()
+        if og.sim.is_playing():
+            from omnigibson.transition_rules import TransitionRuleAPI
+            TransitionRuleAPI.refresh_all_rules()
 
     @classmethod
     def reset(cls):

diff --git a/omnigibson/utils/bddl_utils.py b/omnigibson/utils/bddl_utils.py
@@ -370,7 +370,8 @@ def __init__(
         self.is_system = is_substance_synset(self.synset)
 
         # Infer the correct category to assign
-        self.og_categories = OBJECT_TAXONOMY.get_subtree_categories(self.synset)
+        self.og_categories = OBJECT_TAXONOMY.get_subtree_substances(self.synset) \
+            if self.is_system else OBJECT_TAXONOMY.get_subtree_categories(self.synset)
 
         super().__init__(obj=entity)
 
@@ -741,6 +742,7 @@ def _build_inroom_object_scope(self):
                 obj_synset = self._object_instance_to_synset[obj_inst]
 
                 # We allow burners to be used as if they are stoves
+                # No need to safeguard check for subtree_substances because inroom objects will never be substances
                 categories = OBJECT_TAXONOMY.get_subtree_categories(obj_synset)
                 abilities = OBJECT_TAXONOMY.get_abilities(obj_synset)
 
@@ -921,7 +923,7 @@ def _import_sampleable_objects(self):
             if is_substance_synset(obj_synset):
                 assert len(self._activity_conditions.parsed_objects[obj_synset]) == 1, "Systems are singletons"
                 obj_inst = self._activity_conditions.parsed_objects[obj_synset][0]
-                system_name = OBJECT_TAXONOMY.get_subtree_categories(obj_synset)[0]
+                system_name = OBJECT_TAXONOMY.get_subtree_substances(obj_synset)[0]
                 self._object_scope[obj_inst] = BDDLEntity(
                     bddl_inst=obj_inst,
                     entity=None if obj_inst in self._future_obj_instances else get_system(system_name),