[DO NOT MERGE]: tmp fix for ghost hand recording

omnigibson/envs/data_wrapper.py

@@ -632,6 +632,13 @@ def create_from_hdf5(
 
         # Set scene file and disable online object sampling if BehaviorTask is being used
         config["scene"]["scene_file"] = json.loads(f["data"].attrs["scene_file"])
+
+        # Fix: hot swap R1 USD path
+        if "ghost" in config["scene"]["scene_file"]["objects_info"]["init_info"]:
+            config["scene"]["scene_file"]["objects_info"]["init_info"]["ghost"]["args"]["usd_path"] = os.path.join(
+                gm.ASSET_PATH, "models/r1/usd/r1.usda"
+            )
+
         if config["task"]["type"] == "BehaviorTask":
             config["task"]["online_object_sampling"] = False
 
@@ -698,6 +705,12 @@ def __init__(
         self.input_hdf5 = h5py.File(input_path, "r")
         self.scene_file = json.loads(self.input_hdf5["data"].attrs["scene_file"])
 
+        # Fix: hot swap R1 USD path
+        if "ghost" in self.scene_file["objects_info"]["init_info"]:
+            self.scene_file["objects_info"]["init_info"]["ghost"]["args"]["usd_path"] = os.path.join(
+                gm.ASSET_PATH, "models/r1/usd/r1.usda"
+            )
+
         # Store additional variables
         self.n_render_iterations = n_render_iterations
 

omnigibson/macros.py

@@ -16,12 +16,14 @@ class MacroDict(Dict):
     def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
         self["_read"] = set()
-        object.__setattr__(self, '__locked', True)  # disallow value updates after key is read
+        object.__setattr__(self, "__locked", True)  # disallow value updates after key is read
 
     def __setattr__(self, name, value):
         if name in self.get("_read", set()) and self.is_locked:
-            raise AttributeError(f"Cannot set attribute {name} in MacroDict, it has already been used. "
-                                 f"If knowingly overwriting value, set value within context `with unlocked()`")
+            raise AttributeError(
+                f"Cannot set attribute {name} in MacroDict, it has already been used. "
+                f"If knowingly overwriting value, set value within context `with unlocked()`"
+            )
         # Use the super's setattr for setting attributes, but handle _read directly to avoid recursion.
         if name == "_read":
             self[name] = value
@@ -43,13 +45,13 @@ def is_locked(self):
         """
         Returns True if the config is locked (no value updates allowed after initial read).
         """
-        return object.__getattribute__(self, '__locked')
+        return object.__getattribute__(self, "__locked")
 
     def lock(self):
         """
         Lock the config. Afterward, key values cannot be updated after initial read
         """
-        object.__setattr__(self, '__locked', True)
+        object.__setattr__(self, "__locked", True)
 
         for k in self:
             if isinstance(self[k], MacroDict):
@@ -59,7 +61,7 @@ def unlock(self):
         """
         Unlock the config. Afterward, key values can be updated even after initial read
         """
-        object.__setattr__(self, '__locked', False)
+        object.__setattr__(self, "__locked", False)
 
         for k in self:
             if isinstance(self[k], MacroDict):

omnigibson/maps/segmentation_map.py

@@ -31,7 +31,7 @@ def __init__(
         """
         # Store internal values
         self.scene_dir = scene_dir
-        self.map_default_resolution = 1.0       # Default floor plan images are in meters
+        self.map_default_resolution = 1.0  # Default floor plan images are in meters
         self.floor_heights = floor_heights
 
         # Other values that will be loaded at runtime

omnigibson/sampling/create_stable_scene.py

@@ -4,8 +4,7 @@
 from utils import *
 
 parser = argparse.ArgumentParser()
-parser.add_argument("--scene_model", type=str, default=None,
-                    help="Scene model to sample tasks in")
+parser.add_argument("--scene_model", type=str, default=None, help="Scene model to sample tasks in")
 
 gm.HEADLESS = False
 gm.USE_GPU_DYNAMICS = False
@@ -19,14 +18,17 @@ def main(random_selection=False, headless=False, short_exec=False):
 
     if args.scene_model is None:
         # This MUST be specified
-        assert os.environ.get("SAMPLING_SCENE_MODEL"), "scene model MUST be specified, either as a command-line arg or as an environment variable!"
+        assert os.environ.get(
+            "SAMPLING_SCENE_MODEL"
+        ), "scene model MUST be specified, either as a command-line arg or as an environment variable!"
         args.scene_model = os.environ["SAMPLING_SCENE_MODEL"]
 
     # If we want to create a stable scene config, do that now
     default_scene_fpath = f"{gm.DATASET_PATH}/scenes/{args.scene_model}/json/{args.scene_model}_stable.json"
     if not os.path.exists(default_scene_fpath):
         create_stable_scene_json(scene_model=args.scene_model, record_feedback=True)
 
+
 if __name__ == "__main__":
     main()
 

omnigibson/scenes/scene_base.py

@@ -639,7 +639,7 @@ def add_object(self, obj, register=True, _batched_call=False):
                         for link in obj.links.values():
                             CollisionAPI.add_to_collision_group(
                                 col_group=(
-                                    "fixed_base_root_links" # if link == obj.root_link else "fixed_base_nonroot_links"
+                                    "fixed_base_root_links"  # if link == obj.root_link else "fixed_base_nonroot_links"
                                 ),
                                 prim_path=link.prim_path,
                             )