Merge branch 'og-develop' into action-primitives

README.md

@@ -6,6 +6,11 @@
 
 -------
 
+## Need support? Join our Discord!
+<a href="https://discord.gg/bccR5vGFEx"><img src="https://discordapp.com/api/guilds/1166422812160966707/widget.png?style=banner3"></a>
+
+-------
+
 ## Latest Updates
 - [08/04/23] **v0.2.0**: More assets! 600 pre-sampled tasks, 7 new scenes, and many new objects 📈 [[release notes]](https://github.com/StanfordVL/OmniGibson/releases/tag/v0.2.0)
 

omnigibson/robots/manipulation_robot.py

@@ -1288,17 +1288,16 @@ def _load_state(self, state):
         if self.grasping_mode == "physical":
             return
 
-        # Save AG state
-        # TODO: currently doese not take care of cloth objects
+        # Include AG_state
+        # TODO: currently does not take care of cloth objects
         # TODO: add unit tests
-        self._ag_obj_constraint_params = state["ag_obj_constraint_params"]
-        for arm in self._ag_obj_constraint_params.keys():
-            if len(self._ag_obj_constraint_params[arm]) > 0:
-                data = self._ag_obj_constraint_params[arm]
+        for arm in state["ag_obj_constraint_params"].keys():
+            if len(state["ag_obj_constraint_params"][arm]) > 0:
+                data = state["ag_obj_constraint_params"][arm]
                 obj = og.sim.scene.object_registry("prim_path", data["ag_obj_prim_path"])
                 link = obj.links[data["ag_link_prim_path"].split("/")[-1]]
-                self._ag_obj_in_hand[arm] = obj
-                self._establish_grasp(arm=arm, ag_data=(obj, link), contact_pos=data["contact_pos"])
+                self._ag_data[arm] = (obj, link)
+                self._establish_grasp(arm=arm, ag_data=self._ag_data[arm], contact_pos=data["contact_pos"])
 
     def _serialize(self, state):
         # Call super first