when removing ancestral prims (all scene objects now), we deactivate …

…them

omnigibson/prims/prim_base.py

@@ -4,9 +4,8 @@
 import omnigibson as og
 import omnigibson.lazy as lazy
 from omnigibson.utils.python_utils import Recreatable, Serializable
-from omnigibson.utils.sim_utils import check_deletable_prim
 from omnigibson.utils.ui_utils import create_module_logger
-from omnigibson.utils.usd_utils import scene_relative_prim_path_to_absolute
+from omnigibson.utils.usd_utils import delete_or_deactivate_prim, scene_relative_prim_path_to_absolute
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
@@ -133,9 +132,9 @@ def remove(self):
         if not self._loaded:
             raise ValueError("Cannot remove a prim that was never loaded.")
 
-        # Remove prim if it can be deleted
-        if check_deletable_prim(self.prim_path):
-            lazy.omni.isaac.core.utils.prims.delete_prim(self.prim_path)
+        # Remove or deactivate prim if it's possible
+        if not delete_or_deactivate_prim(self.prim_path):
+            log.warning(f"Prim {self.name} at prim_path {self.prim_path} could not be deleted or deactivated.")
 
     def _load(self):
         """

omnigibson/utils/sim_utils.py

@@ -55,34 +55,6 @@ def set_carb_setting(carb_settings, setting, value):
         raise TypeError(f"Value of type {type(value)} is not supported.")
 
 
-def check_deletable_prim(prim_path):
-    """
-    Checks whether the prim defined at @prim_path can be deleted.
-
-    Args:
-        prim_path (str): Path defining which prim should be checked for deletion
-
-    Returns:
-        bool: Whether the prim can be deleted or not
-    """
-    if not lazy.omni.isaac.core.utils.prims.is_prim_path_valid(prim_path):
-        return False
-    if lazy.omni.isaac.core.utils.prims.is_prim_no_delete(prim_path):
-        return False
-    if lazy.omni.isaac.core.utils.prims.is_prim_ancestral(prim_path):
-        return False
-    if lazy.omni.isaac.core.utils.prims.get_prim_type_name(prim_path=prim_path) == "PhysicsScene":
-        return False
-    if prim_path == "/World":
-        return False
-    if prim_path == "/":
-        return False
-    # Don't remove any /Render prims as that can cause crashes
-    if prim_path.startswith("/Render"):
-        return False
-    return True
-
-
 def prims_to_rigid_prim_set(inp_prims):
     """
     Converts prims @inp_prims into its corresponding set of rigid prims

omnigibson/utils/usd_utils.py

@@ -1743,3 +1743,39 @@ def deep_copy_prim(source_root_prim, dest_stage, dest_root_path):
         for child in source_prim.GetAllChildren():
             new_dest_path = dest_path + "/" + child.GetName()
             queue.append((child, new_dest_path))
+
+
+def delete_or_deactivate_prim(prim_path):
+    """
+    Attept to delete or deactivate the prim defined at @prim_path.
+
+    Args:
+        prim_path (str): Path defining which prim should be deleted or deactivated
+
+    Returns:
+        bool: Whether the operation was successful or not
+    """
+    if not lazy.omni.isaac.core.utils.prims.is_prim_path_valid(prim_path):
+        return False
+    if lazy.omni.isaac.core.utils.prims.is_prim_no_delete(prim_path):
+        return False
+    if lazy.omni.isaac.core.utils.prims.get_prim_type_name(prim_path=prim_path) == "PhysicsScene":
+        return False
+    if prim_path == "/World":
+        return False
+    if prim_path == "/":
+        return False
+    # Don't remove any /Render prims as that can cause crashes
+    if prim_path.startswith("/Render"):
+        return False
+
+    # If the prim is not ancestral, we can delete it.
+    if not lazy.omni.isaac.core.utils.prims.is_prim_ancestral(prim_path):
+        lazy.omni.usd.commands.DeletePrimsCommand([prim_path], destructive=True).do()
+
+    # Otherwise, we can only deactivate it, which essentially serves the same purpose.
+    # All objects that are originally in the scene are ancestral because we add the pre-build scene to the stage.
+    else:
+        lazy.omni.usd.commands.DeletePrimsCommand([prim_path], destructive=False).do()
+
+    return True