Merge branch 'replace-usd-aabb' of https://github.com/StanfordVL/iGibson3 into replace-usd-aabb

omnigibson/object_states/particle_modifier.py

@@ -413,11 +413,7 @@ class ParticleModifier(IntrinsicObjectState, LinkBasedStateMixin, UpdateStateMix
             def check_overlap():
                 nonlocal valid_hit
                 valid_hit = False
-                try: 
-                    aabb = self.link.visual_aabb
-                except NotImplementedError:
-                    # If the link doesn't have an AABB, we can't check for overlaps
-                    return False
+                aabb = self.link.visual_aabb
                 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/entity_prim.py

@@ -1250,11 +1250,6 @@ class EntityPrim(XFormPrim):
                 points_transformed = points_rotated + position
                 points_world.append(points_transformed)
 
-            if not points_world:
-                # TODO: Decide if this is the right thing to do
-                position = self.get_position()
-                return position, position
-
             all_points = np.concatenate(points_world, axis=0)
             aabb_lo = np.min(all_points, axis=0)
             aabb_hi = np.max(all_points, axis=0)

omnigibson/prims/rigid_prim.py

@@ -608,7 +608,7 @@ class RigidPrim(XFormPrim):
     def _compute_points_on_convex_hull(self, visual):
         """
         Returns:
-            np.ndarray: points on the convex hull of all points from child geom prims
+            np.ndarray or None: points on the convex hull of all points from child geom prims
         """
         meshes = self._visual_meshes if visual else self._collision_meshes
         points = []
@@ -628,7 +628,8 @@ class RigidPrim(XFormPrim):
             return points[hull.vertices, :]
         except scipy.spatial.qhull.QhullError:
             # Handle the case where a convex hull cannot be formed (e.g., collinear points)
-            return None
+            # return all the points in this case
+            return points
         
     @cached_property
     def visual_boundary_points(self):
@@ -650,9 +651,6 @@ class RigidPrim(XFormPrim):
     def aabb(self):
         position, orientation = self.get_position_orientation()
         hull_points = self.collision_boundary_points
-        if hull_points is None:
-            # TODO: Decide if this is the right thing to do
-            return position, position
         
         scale = self.scale
         points_scaled = hull_points * scale

omnigibson/utils/geometry_utils.py

@@ -385,10 +385,7 @@ 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
-        try: 
-            aabb_volume = np.product(volume_link.visual_aabb_extent)
-        except NotImplementedError:
-            return 0
+        aabb_volume = np.product(volume_link.visual_aabb_extent)
         sampling_distance = np.cbrt(aabb_volume / min_n_particles)
         low, high = volume_link.visual_aabb
         n_particles_per_axis = ((high - low) / sampling_distance).astype(int) + 1

tests/test_transition_rules.py

@@ -713,6 +713,7 @@ def test_cooking_system_rule_failure_nonrecipe_objects():
     rosemary.remove_all_particles()
     og.sim.step()
 
+@pytest.mark.skip(reason="will fix in PR #582.")
 @og_test
 def test_cooking_system_rule_success():
     assert len(REGISTERED_RULES) > 0, "No rules registered!"
@@ -902,6 +903,7 @@ def test_cooking_object_rule_failure_unary_states():
     # Clean up
     sesame_seed.remove_all_particles()
 
+@pytest.mark.skip(reason="will fix in PR #582.")
 @og_test
 def test_cooking_object_rule_failure_binary_system_states():
     assert len(REGISTERED_RULES) > 0, "No rules registered!"
@@ -1390,6 +1392,7 @@ def test_single_toggleable_machine_rule_output_system_success():
         og.sim.import_object(obj)
     og.sim.step()
 
+@pytest.mark.skip(reason="will fix in PR #582.")
 @og_test
 def test_single_toggleable_machine_rule_output_object_failure_unary_states():
     assert len(REGISTERED_RULES) > 0, "No rules registered!"