make BehaviorTask compatible with vanilla Scene

omnigibson/tasks/behavior_task.py

@@ -18,7 +18,7 @@
 from omnigibson.object_states import Pose
 from omnigibson.reward_functions.potential_reward import PotentialReward
 from omnigibson.robots.robot_base import BaseRobot
-from omnigibson.scenes.interactive_traversable_scene import InteractiveTraversableScene
+from omnigibson.scenes.traversable_scene import TraversableScene
 from omnigibson.scenes.scene_base import Scene
 from omnigibson.tasks.task_base import BaseTask
 from omnigibson.termination_conditions.predicate_goal import PredicateGoal
@@ -195,7 +195,7 @@ def _load(self, env):
         # assert success, f"Failed to initialize Behavior Activity. Feedback:\n{self.feedback}"
 
         # Store the scene name
-        self.scene_name = env.scene.scene_model
+        self.scene_name = env.scene.scene_model if isinstance(env.scene, TraversableScene) else None
 
         # Highlight any task relevant objects if requested
         if self.highlight_task_relevant_objs:

omnigibson/utils/bddl_utils.py

@@ -566,9 +566,12 @@ def set_state(self, state, *args, **kwargs):
 
 class BDDLSampler:
     def __init__(self, env, activity_conditions, object_scope, backend):
+        # Avoid circular imports here
+        from omnigibson.scenes.traversable_scene import TraversableScene
+
         # Store internal variables from inputs
         self._env = env
-        self._scene_model = self._env.scene.scene_model
+        self._scene_model = self._env.scene.scene_model if isinstance(self._env.scene, TraversableScene) else None
         self._agent = self._env.robots[0]
         self._backend = backend
         self._activity_conditions = activity_conditions