Address comments

omnigibson/controllers/controller_base.py

@@ -3,7 +3,6 @@
 
 import numpy as np
 
-from omnigibson.utils.constants import MAGIC_DEFAULT
 from omnigibson.utils.python_utils import Recreatable, Registerable, Serializable, assert_valid_key, classproperty
 
 # Global dicts that will contain mappings
@@ -126,13 +125,17 @@ def __init__(
         self._command_input_transform = None
 
         # Standardize command input / output limits to be (min_array, max_array)
-        command_input_limits = (-1.0, 1.0) if MAGIC_DEFAULT == command_input_limits else command_input_limits
+        command_input_limits = (
+            (-1.0, 1.0)
+            if type(command_input_limits) == str and command_input_limits == "default"
+            else command_input_limits
+        )
         command_output_limits = (
             (
                 np.array(self._control_limits[self.control_type][0])[self.dof_idx],
                 np.array(self._control_limits[self.control_type][1])[self.dof_idx],
             )
-            if MAGIC_DEFAULT == command_output_limits
+            if type(command_input_limits) == str and command_input_limits == "default"
             else command_output_limits
         )
         self._command_input_limits = (

omnigibson/controllers/dd_controller.py

@@ -1,7 +1,6 @@
 import numpy as np
 
 from omnigibson.controllers import ControlType, LocomotionController
-from omnigibson.utils.constants import MAGIC_DEFAULT
 
 
 class DifferentialDriveController(LocomotionController):
@@ -55,7 +54,7 @@ def __init__(
         self._wheel_axle_halflength = wheel_axle_length / 2.0
 
         # If we're using default command output limits, map this to maximum linear / angular velocities
-        if MAGIC_DEFAULT == command_output_limits:
+        if type(command_output_limits) == str and command_output_limits == "default":
             min_vels = control_limits["velocity"][0][dof_idx]
             assert (
                 min_vels[0] == min_vels[1]

omnigibson/controllers/ik_controller.py

@@ -4,7 +4,6 @@
 from omnigibson.controllers import ControlType, ManipulationController
 from omnigibson.controllers.joint_controller import JointController
 from omnigibson.macros import create_module_macros, gm
-from omnigibson.utils.constants import MAGIC_DEFAULT
 from omnigibson.utils.control_utils import IKSolver
 from omnigibson.utils.processing_utils import MovingAverageFilter
 from omnigibson.utils.python_utils import assert_valid_key
@@ -154,7 +153,7 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D
         # The output orientation limits are also set to be values assuming delta commands, so those are updated too
         if self.mode == "pose_absolute_ori":
             if command_input_limits is not None:
-                if MAGIC_DEFAULT == command_input_limits:
+                if type(command_input_limits) == str and command_input_limits == "default":
                     command_input_limits = [
                         [-1.0, -1.0, -1.0, -np.pi, -np.pi, -np.pi],
                         [1.0, 1.0, 1.0, np.pi, np.pi, np.pi],
@@ -163,7 +162,7 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D
                     command_input_limits[0][3:] = -np.pi
                     command_input_limits[1][3:] = np.pi
             if command_output_limits is not None:
-                if MAGIC_DEFAULT == command_output_limits:
+                if type(command_output_limits) == str and command_output_limits == "default":
                     command_output_limits = [
                         [-1.0, -1.0, -1.0, -np.pi, -np.pi, -np.pi],
                         [1.0, 1.0, 1.0, np.pi, np.pi, np.pi],

omnigibson/controllers/joint_controller.py

@@ -9,7 +9,6 @@
     ManipulationController,
 )
 from omnigibson.macros import create_module_macros
-from omnigibson.utils.constants import MAGIC_DEFAULT
 from omnigibson.utils.python_utils import assert_valid_key
 
 # Create settings for this module
@@ -102,7 +101,7 @@ def __init__(
         # When in delta mode, it doesn't make sense to infer output range using the joint limits (since that's an
         # absolute range and our values are relative). So reject the default mode option in that case.
         assert not (
-            self._use_delta_commands and MAGIC_DEFAULT == command_output_limits
+            self._use_delta_commands and type(command_output_limits) == str and command_output_limits == "default"
         ), "Cannot use 'default' command output limits in delta commands mode of JointController. Try None instead."
 
         # Run super init

omnigibson/controllers/multi_finger_gripper_controller.py

@@ -3,7 +3,6 @@
 import omnigibson.utils.transform_utils as T
 from omnigibson.controllers import ControlType, GripperController, IsGraspingState
 from omnigibson.macros import create_module_macros
-from omnigibson.utils.constants import MAGIC_DEFAULT
 from omnigibson.utils.python_utils import assert_valid_key
 
 VALID_MODES = {

omnigibson/controllers/osc_controller.py

@@ -3,7 +3,6 @@
 
 import omnigibson.utils.transform_utils as T
 from omnigibson.controllers import ControlType, ManipulationController
-from omnigibson.utils.constants import MAGIC_DEFAULT
 from omnigibson.utils.control_utils import orientation_error
 from omnigibson.utils.processing_utils import MovingAverageFilter
 from omnigibson.utils.python_utils import assert_valid_key, nums2array
@@ -158,7 +157,7 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D
         self.mode = mode
         if self.mode == "pose_absolute_ori":
             if command_input_limits is not None:
-                if MAGIC_DEFAULT == command_input_limits:
+                if type(command_input_limits) == str and command_input_limits == "default":
                     command_input_limits = [
                         [-1.0, -1.0, -1.0, -np.pi, -np.pi, -np.pi],
                         [1.0, 1.0, 1.0, np.pi, np.pi, np.pi],
@@ -167,7 +166,7 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D
                     command_input_limits[0][3:] = -np.pi
                     command_input_limits[1][3:] = np.pi
             if command_output_limits is not None:
-                if MAGIC_DEFAULT == command_output_limits:
+                if type(command_output_limits) == str and command_output_limits == "default":
                     command_output_limits = [
                         [-1.0, -1.0, -1.0, -np.pi, -np.pi, -np.pi],
                         [1.0, 1.0, 1.0, np.pi, np.pi, np.pi],

omnigibson/sensors/vision_sensor.py

@@ -596,14 +596,16 @@ def image_height(self, height):
         self._viewport.viewport_api.set_texture_resolution((width, height))
 
         # Also update render product and update all annotators
-        old_render_product = self._render_product
-        new_render_product = lazy.omni.replicator.core.create.render_product(self.prim_path, (width, height))
         for annotator in self._annotators.values():
-            annotator.detach([old_render_product.path])
-            annotator.attach([new_render_product])
+            annotator.detach([self._render_product.path])
 
-        old_render_product.destroy()
-        self._render_product = new_render_product
+        self._render_product.destroy()
+        self._render_product = lazy.omni.replicator.core.create.render_product(
+            self.prim_path, (width, height), force_new=True
+        )
+
+        for annotator in self._annotators.values():
+            annotator.attach([self._render_product])
 
         # Requires 3 updates to propagate changes
         for i in range(3):
@@ -629,14 +631,16 @@ def image_width(self, width):
         self._viewport.viewport_api.set_texture_resolution((width, height))
 
         # Also update render product and update all annotators
-        old_render_product = self._render_product
-        new_render_product = lazy.omni.replicator.core.create.render_product(self.prim_path, (width, height))
         for annotator in self._annotators.values():
-            annotator.detach([old_render_product.path])
-            annotator.attach([new_render_product])
+            annotator.detach([self._render_product.path])
 
-        old_render_product.destroy()
-        self._render_product = new_render_product
+        self._render_product.destroy()
+        self._render_product = lazy.omni.replicator.core.create.render_product(
+            self.prim_path, (width, height), force_new=True
+        )
+
+        for annotator in self._annotators.values():
+            annotator.attach([self._render_product])
 
         # Requires 3 updates to propagate changes
         for i in range(3):

omnigibson/utils/constants.py

@@ -18,14 +18,6 @@
 MAX_VIEWER_SIZE = 2048
 
 
-class strWithCompare(str):
-    def __eq__(self, other):
-        return isinstance(other, str) and str.__eq__(self, other)
-
-
-MAGIC_DEFAULT = strWithCompare("default")
-
-
 class ViewerMode(IntEnum):
     NAVIGATION = 0
     MANIPULATION = 1

omnigibson/utils/registry_utils.py

@@ -352,7 +352,7 @@ def _load_state(self, state):
         # loading will be skipped.
         for obj in self.objects:
             if obj.name not in state:
-                # log.warning(f"Object '{obj.name}' is not in the state dict to load from. Skip loading its state.")
+                log.warning(f"Object '{obj.name}' is not in the state dict to load from. Skip loading its state.")
                 continue
             obj.load_state(state[obj.name], serialized=False)