Merge pull request #631 from StanfordVL/lazy-gm-access

lazy access of gm values

.github/workflows/tests.yml

@@ -24,7 +24,8 @@ jobs:
           - test_object_removal
           - test_object_states
           - test_primitives
-          - test_robot_states
+          - test_robot_states_flatcache
+          - test_robot_states_no_flatcache
           - test_robot_teleoperation
           - test_sensors
           - test_symbolic_primitives

omnigibson/__init__.py

@@ -30,8 +30,6 @@
 
 __version__ = "1.0.0"
 
-log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
-
 root_path = os.path.dirname(os.path.realpath(__file__))
 
 # Store paths to example configs

omnigibson/macros.py

@@ -10,33 +10,57 @@
 
 from addict import Dict
 
+
+class MacroDict(Dict):
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self["_read"] = set()
+
+    def __setattr__(self, name, value):
+        if name in self.get("_read", set()):
+            raise AttributeError(f"Cannot set attribute {name} in MacroDict, it has already been used.")
+        # Use the super's setattr for setting attributes, but handle _read directly to avoid recursion.
+        if name == "_read":
+            self[name] = value
+        else:
+            super().__setattr__(name, value)
+
+    def __getattr__(self, item):
+        # Directly check and modify '_read' to avoid going through __getattr__ or __setattr__.
+        if item != "_read":
+            self["_read"].add(item)
+        # Use direct dictionary access to avoid infinite recursion.
+        try:
+            return self[item]
+        except KeyError:
+            raise AttributeError(f"'MacroDict' object has no attribute '{item}'")
+
+
 # Initialize settings
-macros = Dict()
+macros = MacroDict()
 gm = macros.globals
 
+
+def determine_gm_path(default_path, env_var_name):
+    # Start with the default path
+    path = default_path
+    # Override with the environment variable, if set
+    if env_var_name in os.environ:
+        path = os.environ[env_var_name]
+    # Expand the user directory (~)
+    path = os.path.expanduser(path)
+    # Make the path absolute if it's not already
+    if not os.path.isabs(path):
+        path = os.path.join(os.path.dirname(os.path.realpath(__file__)), path)
+    return path
+
+
 # Path (either relative to OmniGibson/omnigibson directory or global absolute path) for data
 # Assets correspond to non-objects / scenes (e.g.: robots), and dataset incliudes objects + scene
 # can override assets_path and dataset_path from environment variable
-gm.ASSET_PATH = "data/assets"
-if "OMNIGIBSON_ASSET_PATH" in os.environ:
-    gm.ASSET_PATH = os.environ["OMNIGIBSON_ASSET_PATH"]
-gm.ASSET_PATH = os.path.expanduser(gm.ASSET_PATH)
-if not os.path.isabs(gm.ASSET_PATH):
-    gm.ASSET_PATH = os.path.join(os.path.dirname(os.path.realpath(__file__)), gm.ASSET_PATH)
-
-gm.DATASET_PATH = "data/og_dataset"
-if "OMNIGIBSON_DATASET_PATH" in os.environ:
-    gm.DATASET_PATH = os.environ["OMNIGIBSON_DATASET_PATH"]
-gm.DATASET_PATH = os.path.expanduser(gm.DATASET_PATH)
-if not os.path.isabs(gm.DATASET_PATH):
-    gm.DATASET_PATH = os.path.join(os.path.dirname(os.path.realpath(__file__)), gm.DATASET_PATH)
-
-gm.KEY_PATH = "data/omnigibson.key"
-if "OMNIGIBSON_KEY_PATH" in os.environ:
-    gm.KEY_PATH = os.environ["OMNIGIBSON_KEY_PATH"]
-gm.KEY_PATH = os.path.expanduser(gm.KEY_PATH)
-if not os.path.isabs(gm.KEY_PATH):
-    gm.KEY_PATH = os.path.join(os.path.dirname(os.path.realpath(__file__)), gm.KEY_PATH)
+gm.ASSET_PATH = determine_gm_path("data/assets", "OMNIGIBSON_ASSET_PATH")
+gm.DATASET_PATH = determine_gm_path("data/og_dataset", "OMNIGIBSON_DATASET_PATH")
+gm.KEY_PATH = determine_gm_path("data/omnigibson.key", "OMNIGIBSON_KEY_PATH")
 
 # Which GPU to use -- None will result in omni automatically using an appropriate GPU. Otherwise, set with either
 # integer or string-form integer
@@ -130,7 +154,7 @@ def create_module_macros(module_path):
             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
+        MacroDict: addict/macro dictionary which can be populated with values
     """
     # Sanity check module path, make sure omnigibson/ is in the path
     module_path = pathlib.Path(module_path)
@@ -148,14 +172,14 @@ def create_module_macros(module_path):
     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
+        # corresponding nested dictionary, otherwise, generates a new MacroDict() 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()
+                dic[key] = MacroDict()
             return _recursively_get_or_create_dict(dic=dic[key], keys=keys[1:])
 
     return _recursively_get_or_create_dict(dic=macros, keys=subsections)

omnigibson/object_states/attached_to.py

@@ -191,8 +191,8 @@ def _find_attachment_links(
         self,
         other,
         bypass_alignment_checking=False,
-        pos_thresh=m.DEFAULT_POSITION_THRESHOLD,
-        orn_thresh=m.DEFAULT_ORIENTATION_THRESHOLD,
+        pos_thresh=None,
+        orn_thresh=None,
     ):
         """
         Args:
@@ -209,6 +209,10 @@ def _find_attachment_links(
                 - RigidPrim or None: link belonging to @self.obj that should be aligned to that corresponding link of @other
                 - RigidPrim or None: the corresponding link of @other
         """
+        if pos_thresh is None:
+            pos_thresh = m.DEFAULT_POSITION_THRESHOLD
+        if orn_thresh is None:
+            orn_thresh = m.DEFAULT_ORIENTATION_THRESHOLD
         parent_candidates = self._get_parent_candidates(other)
         if not parent_candidates:
             return None, None
@@ -261,7 +265,7 @@ def attachment_joint_prim_path(self):
             f"{self.parent_link.prim_path}/{self.obj.name}_attachment_joint" if self.parent_link is not None else None
         )
 
-    def _attach(self, other, child_link, parent_link, joint_type=m.DEFAULT_JOINT_TYPE, can_joint_break=True):
+    def _attach(self, other, child_link, parent_link, joint_type=None, can_joint_break=True):
         """
         Creates a fixed or spherical joint between a male meta link of self.obj (@child_link) and a female meta link of
          @other (@parent_link) with a given @joint_type, @break_force and @break_torque
@@ -273,6 +277,8 @@ def _attach(self, other, child_link, parent_link, joint_type=m.DEFAULT_JOINT_TYP
             joint_type (JointType): joint type of the attachment, {JointType.JOINT_FIXED, JointType.JOINT_SPHERICAL}
             can_joint_break (bool): whether the joint can break or not.
         """
+        if joint_type is None:
+            joint_type = m.DEFAULT_JOINT_TYPE
         assert joint_type in {JointType.JOINT_FIXED, JointType.JOINT_SPHERICAL}, f"Unsupported joint type {joint_type}"
 
         # Set pose for self.obj so that child_link and parent_link align (6dof alignment for FixedJoint and 3dof alignment for SphericalJoint)

omnigibson/object_states/burnt.py

@@ -9,9 +9,9 @@
 
 
 class Burnt(AbsoluteObjectState, BooleanStateMixin):
-    def __init__(self, obj, burn_temperature=m.DEFAULT_BURN_TEMPERATURE):
+    def __init__(self, obj, burn_temperature=None):
         super(Burnt, self).__init__(obj)
-        self.burn_temperature = burn_temperature
+        self.burn_temperature = burn_temperature if burn_temperature is not None else m.DEFAULT_BURN_TEMPERATURE
 
     @classmethod
     def get_dependencies(cls):

omnigibson/object_states/cooked.py

@@ -9,9 +9,9 @@
 
 
 class Cooked(AbsoluteObjectState, BooleanStateMixin):
-    def __init__(self, obj, cook_temperature=m.DEFAULT_COOK_TEMPERATURE):
+    def __init__(self, obj, cook_temperature=None):
         super(Cooked, self).__init__(obj)
-        self.cook_temperature = cook_temperature
+        self.cook_temperature = cook_temperature if cook_temperature is not None else m.DEFAULT_COOK_TEMPERATURE
 
     @classmethod
     def get_dependencies(cls):

omnigibson/object_states/frozen.py

@@ -16,9 +16,9 @@
 
 
 class Frozen(AbsoluteObjectState, BooleanStateMixin):
-    def __init__(self, obj, freeze_temperature=m.DEFAULT_FREEZE_TEMPERATURE):
+    def __init__(self, obj, freeze_temperature=None):
         super(Frozen, self).__init__(obj)
-        self.freeze_temperature = freeze_temperature
+        self.freeze_temperature = freeze_temperature if freeze_temperature is not None else m.DEFAULT_FREEZE_TEMPERATURE
 
     @classmethod
     def get_dependencies(cls):

omnigibson/object_states/heat_source_or_sink.py

@@ -38,9 +38,9 @@ class HeatSourceOrSink(AbsoluteObjectState, LinkBasedStateMixin, UpdateStateMixi
     def __init__(
         self,
         obj,
-        temperature=m.DEFAULT_TEMPERATURE,
-        heating_rate=m.DEFAULT_HEATING_RATE,
-        distance_threshold=m.DEFAULT_DISTANCE_THRESHOLD,
+        temperature=None,
+        heating_rate=None,
+        distance_threshold=None,
         requires_toggled_on=False,
         requires_closed=False,
         requires_inside=False,
@@ -64,9 +64,9 @@ def __init__(
                 ignored.
         """
         super(HeatSourceOrSink, self).__init__(obj)
-        self._temperature = temperature
-        self._heating_rate = heating_rate
-        self.distance_threshold = distance_threshold
+        self._temperature = temperature if temperature is not None else m.DEFAULT_TEMPERATURE
+        self._heating_rate = heating_rate if heating_rate is not None else m.DEFAULT_HEATING_RATE
+        self.distance_threshold = distance_threshold if distance_threshold is not None else m.DEFAULT_DISTANCE_THRESHOLD
 
         # If the heat source needs to be toggled on, we assert the presence
         # of that ability.

omnigibson/object_states/heated.py

@@ -16,9 +16,9 @@
 
 
 class Heated(AbsoluteObjectState, BooleanStateMixin):
-    def __init__(self, obj, heat_temperature=m.DEFAULT_HEAT_TEMPERATURE):
+    def __init__(self, obj, heat_temperature=None):
         super(Heated, self).__init__(obj)
-        self.heat_temperature = heat_temperature
+        self.heat_temperature = heat_temperature if heat_temperature is not None else m.DEFAULT_HEAT_TEMPERATURE
 
     @classmethod
     def get_dependencies(cls):

omnigibson/object_states/on_fire.py

@@ -25,10 +25,10 @@ class OnFire(HeatSourceOrSink):
     def __init__(
         self,
         obj,
-        ignition_temperature=m.DEFAULT_IGNITION_TEMPERATURE,
-        fire_temperature=m.DEFAULT_FIRE_TEMPERATURE,
-        heating_rate=m.DEFAULT_HEATING_RATE,
-        distance_threshold=m.DEFAULT_DISTANCE_THRESHOLD,
+        ignition_temperature=None,
+        fire_temperature=None,
+        heating_rate=None,
+        distance_threshold=None,
     ):
         """
         Args:
@@ -40,6 +40,12 @@ def __init__(
             distance_threshold (float): The distance threshold which an object needs
                 to be closer than in order to receive heat from this heat source.
         """
+        ignition_temperature = (
+            ignition_temperature if ignition_temperature is not None else m.DEFAULT_IGNITION_TEMPERATURE
+        )
+        fire_temperature = fire_temperature if fire_temperature is not None else m.DEFAULT_FIRE_TEMPERATURE
+        heating_rate = heating_rate if heating_rate is not None else m.DEFAULT_HEATING_RATE
+        distance_threshold = distance_threshold if distance_threshold is not None else m.DEFAULT_DISTANCE_THRESHOLD
         assert fire_temperature > ignition_temperature, "fire temperature should be higher than ignition temperature."
 
         super().__init__(

omnigibson/object_states/saturated.py

@@ -100,12 +100,12 @@ def _deserialize(self, state):
 
 
 class Saturated(RelativeObjectState, BooleanStateMixin):
-    def __init__(self, obj, default_limit=m.DEFAULT_SATURATION_LIMIT):
+    def __init__(self, obj, default_limit=None):
         # Run super first
         super().__init__(obj=obj)
 
         # Limits
-        self._default_limit = default_limit
+        self._default_limit = default_limit if default_limit is not None else m.DEFAULT_SATURATION_LIMIT
         self._limits = None
 
     def _initialize(self):

omnigibson/objects/dataset_object.py

@@ -8,14 +8,8 @@
 import omnigibson.utils.transform_utils as T
 from omnigibson.macros import create_module_macros, gm
 from omnigibson.objects.usd_object import USDObject
-from omnigibson.utils.asset_utils import get_all_object_category_models
-from omnigibson.utils.constants import (
-    AVERAGE_CATEGORY_SPECS,
-    DEFAULT_JOINT_FRICTION,
-    SPECIAL_JOINT_FRICTIONS,
-    JointType,
-    PrimType,
-)
+from omnigibson.utils.asset_utils import get_all_object_category_models, get_og_avg_category_specs
+from omnigibson.utils.constants import DEFAULT_JOINT_FRICTION, SPECIAL_JOINT_FRICTIONS, JointType, PrimType
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
@@ -467,7 +461,8 @@ def avg_obj_dims(self):
         Returns:
             None or dict: Average object information based on its category
         """
-        return AVERAGE_CATEGORY_SPECS.get(self.category, None)
+        avg_specs = get_og_avg_category_specs()
+        return avg_specs.get(self.category, None)
 
     def _create_prim_with_same_kwargs(self, prim_path, name, load_config):
         # Add additional kwargs (bounding_box is already captured in load_config)

omnigibson/robots/manipulation_robot.py

@@ -34,7 +34,6 @@
 m.ARTICULATED_ASSIST_FRACTION = 0.7
 m.MIN_ASSIST_FORCE = 0
 m.MAX_ASSIST_FORCE = 100
-m.ASSIST_FORCE = m.MIN_ASSIST_FORCE + (m.MAX_ASSIST_FORCE - m.MIN_ASSIST_FORCE) * m.ASSIST_FRACTION
 m.CONSTRAINT_VIOLATION_THRESHOLD = 0.1
 m.RELEASE_WINDOW = 1 / 30.0  # release window in seconds
 
@@ -1231,7 +1230,8 @@ def _establish_grasp_rigid(self, arm="default", ag_data=None, contact_pos=None):
 
         # Modify max force based on user-determined assist parameters
         # TODO
-        max_force = m.ASSIST_FORCE if joint_type == "FixedJoint" else m.ASSIST_FORCE * m.ARTICULATED_ASSIST_FRACTION
+        assist_force = m.MIN_ASSIST_FORCE + (m.MAX_ASSIST_FORCE - m.MIN_ASSIST_FORCE) * m.ASSIST_FRACTION
+        max_force = assist_force if joint_type == "FixedJoint" else assist_force * m.ARTICULATED_ASSIST_FRACTION
         # joint_prim.GetAttribute("physics:breakForce").Set(max_force)
 
         self._ag_obj_constraint_params[arm] = {
@@ -1406,7 +1406,7 @@ def _establish_grasp_cloth(self, arm="default", ag_data=None):
 
         # Modify max force based on user-determined assist parameters
         # TODO
-        max_force = m.ASSIST_FORCE
+        max_force = m.MIN_ASSIST_FORCE + (m.MAX_ASSIST_FORCE - m.MIN_ASSIST_FORCE) * m.ASSIST_FRACTION
         # joint_prim.GetAttribute("physics:breakForce").Set(max_force)
 
         self._ag_obj_constraint_params[arm] = {

omnigibson/scenes/scene_base.py

@@ -32,9 +32,6 @@
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
 
-# Default texture to use for skybox
-m.DEFAULT_SKYBOX_TEXTURE = f"{gm.ASSET_PATH}/models/background/sky.jpg"
-
 # Global dicts that will contain mappings
 REGISTERED_SCENES = dict()
 
@@ -208,7 +205,8 @@ def _load(self):
             )
             og.sim.import_object(self._skybox, register=False)
             self._skybox.color = (1.07, 0.85, 0.61)
-            self._skybox.texture_file_path = m.DEFAULT_SKYBOX_TEXTURE
+            # Default texture to use for skybox
+            self._skybox.texture_file_path = f"{gm.ASSET_PATH}/models/background/sky.jpg"
 
     def _load_objects_from_scene_file(self):
         """

omnigibson/simulator.py

@@ -62,6 +62,8 @@ def print_save_usd_warning(_):
 
 
 def _launch_app():
+    log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
+
     log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
 
     # If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
@@ -1467,6 +1469,10 @@ def _deserialize(self, state):
             return self._scene.deserialize(state=state), self._scene.state_size
 
     if not og.sim:
+        from omnigibson.systems.system_base import import_og_systems
+
+        # Import all OG systems from dataset
+        import_og_systems()
         og.sim = Simulator(*args, **kwargs)
 
         print()

omnigibson/systems/__init__.py

@@ -12,6 +12,3 @@
     remove_callback_on_system_clear,
     remove_callback_on_system_init,
 )
-
-# Import all OG systems from dataset
-import_og_systems()