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Fix issue #765: add underscore to class implementation and change class to simulator-based ownership #835

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Fix issue #765: add underscore to class implementation and change class to simulator-based ownership #835

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d282948
add underscore and change ownership to sim
Carperis Aug 15, 2024
f661770
Merge branch 'og-develop' into fix_issue_765
Carperis Sep 15, 2024
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39 changes: 28 additions & 11 deletions omnigibson/simulator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -283,6 +283,12 @@ def __init__(
# This makes that possible (and also introduces possible issues around circular dependencies)
assert og.sim is None, "Only one Simulator instance can be created at a time!"
og.sim = self
self.collision_api = CollisionAPI
self.controlable_object_view_api = ControllableObjectViewAPI
self.flatcache_api = FlatcacheAPI
self.gripper_rigid_contact_api = GripperRigidContactAPI
self.pose_api = PoseAPI
self.rigid_contact_api = RigidContactAPI

# Sanity check physics vs. rendering vs. sim step dt
physics_dt = 1.0 / gm.DEFAULT_PHYSICS_FREQ if physics_dt is None else physics_dt
Expand Down Expand Up @@ -874,7 +880,8 @@ def _reset_variables(self):
def render(self):
super().render()
# During rendering, the Fabric API is updated, so we can mark it as clean
PoseAPI.mark_valid()
# PoseAPI.mark_valid()
og.sim.pose_api.mark_valid()

def update_handles(self):
# Handles are only relevant when physx is running
Expand All @@ -897,9 +904,12 @@ def update_handles(self):
system.refresh_particles_view()

# Finally update any unified views
RigidContactAPI.initialize_view()
GripperRigidContactAPI.initialize_view()
ControllableObjectViewAPI.initialize_view()
# RigidContactAPI.initialize_view()
# GripperRigidContactAPI.initialize_view()
# ControllableObjectViewAPI.initialize_view()
og.sim.rigid_contact_api.initialize_view()
og.sim.gripper_rigid_contact_api.initialize_view()
og.sim.controlable_object_view_api.initialize_view()

def _non_physics_step(self):
"""
Expand Down Expand Up @@ -978,9 +988,12 @@ def _omni_update_step(self):
Step any omni-related things
"""
# Clear the bounding box and contact caches so that they get updated during the next time they're called
RigidContactAPI.clear()
GripperRigidContactAPI.clear()
ControllableObjectViewAPI.clear()
# RigidContactAPI.clear()
# GripperRigidContactAPI.clear()
# ControllableObjectViewAPI.clear()
og.sim.rigid_contact_api.clear()
og.sim.gripper_rigid_contact_api.clear()
og.sim.controlable_object_view_api.clear()

def play(self):
if not self.is_playing():
Expand Down Expand Up @@ -1044,7 +1057,8 @@ def stop(self):

# If we're using flatcache, we also need to reset its API
if gm.ENABLE_FLATCACHE:
FlatcacheAPI.reset()
# FlatcacheAPI.reset()
og.sim.flatcache_api.reset()

# Run all callbacks
for callback in self._callbacks_on_stop.values():
Expand Down Expand Up @@ -1101,11 +1115,13 @@ def step_physics(self):

# Update all APIs
self._omni_update_step()
PoseAPI.invalidate()
# PoseAPI.invalidate()
og.sim.pose_api.invalidate()

def _on_physics_step(self):
# Make the controllable object view API refresh
ControllableObjectViewAPI.clear()
# ControllableObjectViewAPI.clear()
og.sim.controlable_object_view_api.clear()

# Run the controller step on every controllable object
for scene in self.scenes:
Expand All @@ -1114,7 +1130,8 @@ def _on_physics_step(self):
obj.step()

# Flush the controls from the ControllableObjectViewAPI
ControllableObjectViewAPI.flush_control()
# ControllableObjectViewAPI.flush_control()
og.sim.controlable_object_view_api.flush_control()

def _on_contact(self, contact_headers, contact_data):
"""
Expand Down
8 changes: 4 additions & 4 deletions omnigibson/utils/usd_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -176,7 +176,7 @@ def create_joint(
return joint_prim


class RigidContactAPIImpl:
class _RigidContactAPIImpl:
"""
Class containing class methods to aggregate rigid body contacts across all rigid bodies in the simulator
"""
Expand Down Expand Up @@ -485,10 +485,10 @@ def clear(self):


# Instantiate the RigidContactAPI
RigidContactAPI = RigidContactAPIImpl()
RigidContactAPI = _RigidContactAPIImpl()


class GripperRigidContactAPIImpl(RigidContactAPIImpl):
class _GripperRigidContactAPIImpl(_RigidContactAPIImpl):
@classmethod
def get_column_filters(cls):
from omnigibson.robots.manipulation_robot import ManipulationRobot
Expand All @@ -512,7 +512,7 @@ def get_max_contact_data_count(cls):


# Instantiate the GripperRigidContactAPI
GripperRigidContactAPI = GripperRigidContactAPIImpl()
GripperRigidContactAPI = _GripperRigidContactAPIImpl()


class CollisionAPI:
Expand Down