WIP in the processing of removing BoundingBoxAPI

omnigibson/object_states/heat_source_or_sink.py

@@ -193,7 +193,10 @@ class HeatSourceOrSink(AbsoluteObjectState, LinkBasedStateMixin):
             aabb_lower, aabb_upper = obj.states[AABB].get_value()
             obj_pos = (aabb_lower + aabb_upper) / 2.0
             # Position is either the AABB center of the default link or the metalink position itself
-            heat_source_pos = self.link.aabb_center if self.link == self._default_link else self.link.get_position()
+            try:
+                heat_source_pos = self.link.aabb_center if self.link == self._default_link else self.link.get_position()
+            except NotImplementedError:
+                heat_source_pos = self.link.get_position()
             if T.l2_distance(heat_source_pos, obj_pos) > self.distance_threshold:
                 return False
 

omnigibson/object_states/inside.py

@@ -1,10 +1,10 @@
+import numpy as np
 import omnigibson as og
 from omnigibson.object_states.aabb import AABB
 from omnigibson.object_states.adjacency import HorizontalAdjacency, VerticalAdjacency, flatten_planes
 from omnigibson.object_states.kinematics_mixin import KinematicsMixin
 from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
 from omnigibson.utils.object_state_utils import sample_kinematics
-from omnigibson.utils.usd_utils import BoundingBoxAPI
 from omnigibson.utils.object_state_utils import m as os_m
 
 
@@ -34,9 +34,9 @@ class Inside(RelativeObjectState, KinematicsMixin, BooleanStateMixin):
         # Since we usually check for a small set of outer objects, this is cheap
         aabb_lower, aabb_upper = self.obj.states[AABB].get_value()
         inner_object_pos = (aabb_lower + aabb_upper) / 2.0
-        outer_object_aabb = other.states[AABB].get_value()
-
-        if not BoundingBoxAPI.aabb_contains_point(inner_object_pos, outer_object_aabb):
+        outer_object_aabb_lo, outer_object_aabb_hi = other.states[AABB].get_value()
+        
+        if not (np.less_equal(outer_object_aabb_lo, inner_object_pos).all() and np.less_equal(inner_object_pos, outer_object_aabb_hi).all()):
             return False
 
         # Our definition of inside: an object A is inside an object B if there

omnigibson/object_states/particle_modifier.py

@@ -399,7 +399,11 @@ class ParticleModifier(IntrinsicObjectState, LinkBasedStateMixin, UpdateStateMix
             def check_overlap():
                 nonlocal valid_hit
                 valid_hit = False
-                aabb = self.link.aabb
+                try: 
+                    aabb = self.link.aabb
+                except NotImplementedError:
+                    # If the link doesn't have an AABB, we can't check for overlaps
+                    return False
                 og.sim.psqi.overlap_box(
                     halfExtent=(aabb[1] - aabb[0]) / 2.0 + m.PARTICLE_MODIFIER_ADJACENCY_AREA_MARGIN,
                     pos=(aabb[1] + aabb[0]) / 2.0,

omnigibson/prims/xform_prim.py

@@ -1,6 +1,7 @@
 from collections.abc import Iterable
 import numpy as np
 import omnigibson as og
+from omnigibson.macros import gm
 import omnigibson.lazy as lazy
 from omnigibson.prims.prim_base import BasePrim
 from omnigibson.prims.material_prim import MaterialPrim
@@ -349,7 +350,7 @@ class XFormPrim(BasePrim):
                 - 3-array: (x,y,z) lower corner of the bounding box
                 - 3-array: (x,y,z) upper corner of the bounding box
         """
-        return BoundingBoxAPI.compute_aabb(self)
+        raise NotImplementedError("An XformPrim on its own does not have a bounding box")
 
     @property
     def aabb_extent(self):

omnigibson/utils/geometry_utils.py

@@ -385,7 +385,10 @@ def generate_points_in_volume_checker_function(obj, volume_link, use_visual_mesh
             mesh.visible = True
 
         # Determine equally-spaced sampling distance to achieve this minimum particle count
-        aabb_volume = np.product(volume_link.aabb_extent)
+        try: 
+            aabb_volume = np.product(volume_link.aabb_extent)
+        except NotImplementedError:
+            return 0
         sampling_distance = np.cbrt(aabb_volume / min_n_particles)
         low, high = volume_link.aabb
         n_particles_per_axis = ((high - low) / sampling_distance).astype(int) + 1

omnigibson/utils/sim_utils.py

@@ -6,7 +6,6 @@ import omnigibson as og
 from omnigibson.macros import gm
 from omnigibson.utils import python_utils
 import omnigibson.utils.transform_utils as T
-from omnigibson.utils.usd_utils import BoundingBoxAPI
 import omnigibson.lazy as lazy
 from omnigibson.utils.ui_utils import create_module_logger
 

tests/test_object_states.py

@@ -4,7 +4,6 @@ from omnigibson.systems import get_system, is_physical_particle_system, is_visua
 from omnigibson.utils.constants import PrimType
 from omnigibson.utils.physx_utils import apply_force_at_pos, apply_torque
 import omnigibson.utils.transform_utils as T
-from omnigibson.utils.usd_utils import BoundingBoxAPI
 import omnigibson as og
 
 from utils import og_test, get_random_pose, place_objA_on_objB_bbox, place_obj_on_floor_plane

tests/test_transition_rules.py

@@ -4,7 +4,6 @@ from omnigibson.systems import get_system, is_physical_particle_system, is_visua
 from omnigibson.utils.constants import PrimType
 from omnigibson.utils.physx_utils import apply_force_at_pos, apply_torque
 import omnigibson.utils.transform_utils as T
-from omnigibson.utils.usd_utils import BoundingBoxAPI
 from omnigibson.objects import DatasetObject
 from omnigibson.transition_rules import REGISTERED_RULES
 import omnigibson as og