From e05ba330fd3793456c21b156b7d16c7e7170d19a Mon Sep 17 00:00:00 2001
From: Arman Aydin <86849247+goldenJester@users.noreply.github.com>
Date: Mon, 5 Feb 2024 14:55:36 -0800
Subject: [PATCH 1/5] Initial implementation

---
 .../examples/object_states/slicing_demo.py    |  1 +
 omnigibson/transition_rules.py                | 49 ++++++++++++++++++-
 2 files changed, 49 insertions(+), 1 deletion(-)

diff --git a/omnigibson/examples/object_states/slicing_demo.py b/omnigibson/examples/object_states/slicing_demo.py
index 500db990b..1d3b63a9a 100644
--- a/omnigibson/examples/object_states/slicing_demo.py
+++ b/omnigibson/examples/object_states/slicing_demo.py
@@ -89,6 +89,7 @@ def main(random_selection=False, headless=False, short_exec=False):
     knife.set_position_orientation(
         position=apple.get_position() + np.array([-0.15, 0.0, 0.2]),
         orientation=T.euler2quat([-np.pi / 2, 0, 0]),
+        # orientation=T.euler2quat([np.pi / 2, 0, 0])   # The back of the knife cuts the apple as well
     )
 
     input("The knife will fall on the apple and slice it. Press [ENTER] to continue.")
diff --git a/omnigibson/transition_rules.py b/omnigibson/transition_rules.py
index 0b80ab590..18f716913 100644
--- a/omnigibson/transition_rules.py
+++ b/omnigibson/transition_rules.py
@@ -18,6 +18,7 @@
 import omnigibson.utils.transform_utils as T
 from omnigibson.utils.ui_utils import disclaimer, create_module_logger
 from omnigibson.utils.usd_utils import RigidContactAPI
+from omnigibson.utils.geometry_utils import generate_points_in_volume_checker_function
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
@@ -411,6 +412,49 @@ def modifies_filter_names(self):
         return {self._filter_1_name}
 
 
+class TouchingVolumeCheckCondition(TouchingAnyCondition):
+    def __init__(self, filter_1_name, filter_2_name):
+        '''
+        Checks if filter_2_bodies have a contact point within the collision volume generated from each obj in filter_1
+        '''
+        # super().__init__(filter_2_name, filter_1_name)
+        super().__init__(filter_1_name, filter_2_name)
+
+    def __call__(self, object_candidates):
+        # Keep any object that has non-zero impulses between itself and any of the @filter_2_name's objects
+        objs = []
+
+        # Manually check contact
+        filter_2_bodies = set.union(*(self._filter_2_bodies[obj] for obj in object_candidates[self._filter_2_name]))
+        for obj in object_candidates[self._filter_1_name]:
+            slicer_volume = None
+            for name, link in self.obj.links.items():
+                if 'slicer' in name:
+                    slicer_volume = link
+                    break
+            
+            if slicer_volume is None:
+                continue
+
+            check_in_volume, _ = generate_points_in_volume_checker_function(
+                obj=obj,
+                volume_link=slicer_volume  
+            )
+
+            # Check if the contact point is within the check_in_volume function
+            for contact in obj.contact_list():
+                # Get the collision point from contact bodies and check if it happens
+                # within the slicer volume
+                if contact.body1 in filter_2_bodies and check_in_volume(contact.position):
+                    objs.append(obj)
+
+        # Update candidates
+        object_candidates[self._filter_1_name] = objs
+
+        # If objs is empty, return False, otherwise, True
+        return len(objs) > 0
+
+
 class StateCondition(RuleCondition):
     """
     Rule condition that checks all objects from @filter_name whether a state condition is equal to @val for
@@ -723,7 +767,10 @@ def candidate_filters(cls):
     @classmethod
     def _generate_conditions(cls):
         # sliceables should be touching any slicer
-        return [TouchingAnyCondition(filter_1_name="sliceable", filter_2_name="slicer"),
+        # return [TouchingAnyCondition(filter_1_name="sliceable", filter_2_name="slicer"),
+        #         StateCondition(filter_name="slicer", state=SlicerActive, val=True, op=operator.eq)]
+
+        return [TouchingVolumeCheckCondition(filter_1_name="slicer", filter_2_name="sliceable"),
                 StateCondition(filter_name="slicer", state=SlicerActive, val=True, op=operator.eq)]
 
     @classmethod

From 2d659770df3d72ae8d7e9c3dee185f675752d04f Mon Sep 17 00:00:00 2001
From: Arman Aydin <86849247+goldenJester@users.noreply.github.com>
Date: Tue, 13 Feb 2024 14:43:47 -0800
Subject: [PATCH 2/5] check slicer volume overlap implementation

---
 omnigibson/transition_rules.py | 74 +++++++++++++++++++++++-----------
 1 file changed, 51 insertions(+), 23 deletions(-)

diff --git a/omnigibson/transition_rules.py b/omnigibson/transition_rules.py
index 18f716913..02673ce9d 100644
--- a/omnigibson/transition_rules.py
+++ b/omnigibson/transition_rules.py
@@ -7,6 +7,7 @@
 import itertools
 import os
 import omnigibson as og
+import omnigibson.lazy as lazy
 from omnigibson.macros import gm, create_module_macros
 from omnigibson.systems import get_system, is_system_active, PhysicalParticleSystem, VisualParticleSystem, REGISTERED_SYSTEMS
 from omnigibson.objects.dataset_object import DatasetObject
@@ -341,13 +342,14 @@ class TouchingAnyCondition(RuleCondition):
     Rule condition that prunes object candidates from @filter_1_name, only keeping any that are touching any object
     from @filter_2_name
     """
-    def __init__(self, filter_1_name, filter_2_name):
+    def __init__(self, filter_1_name, filter_2_name, allow_optimized=True):
         """
         Args:
             filter_1_name (str): Name of the filter whose object candidates will be pruned based on whether or not
                 they are touching any object from @filter_2_name
             filter_2_name (str): Name of the filter whose object candidates will be used to prune the candidates from
                 @filter_1_name
+            allow_optimized (bool): Whether optimization using RigidContactAPI should be allowed
         """
         self._filter_1_name = filter_1_name
         self._filter_2_name = filter_2_name
@@ -364,11 +366,12 @@ def __init__(self, filter_1_name, filter_2_name):
 
         # Flag whether optimized call can be used
         self._optimized = None
+        self._allow_optimized = allow_optimized
 
     def refresh(self, object_candidates):
         # Check whether we can use optimized computation or not -- this is determined by whether or not any objects
         # in our collision set are kinematic only
-        self._optimized = not np.any([obj.kinematic_only or obj.prim_type == PrimType.CLOTH
+        self._optimized = self._allow_optimized and not np.any([obj.kinematic_only or obj.prim_type == PrimType.CLOTH
                                   for f in (self._filter_1_name, self._filter_2_name) for obj in object_candidates[f]])
 
         if self._optimized:
@@ -412,41 +415,69 @@ def modifies_filter_names(self):
         return {self._filter_1_name}
 
 
-class TouchingVolumeCheckCondition(TouchingAnyCondition):
+class TouchingSlicerVolumeCondition(TouchingAnyCondition):
     def __init__(self, filter_1_name, filter_2_name):
         '''
-        Checks if filter_2_bodies have a contact point within the collision volume generated from each obj in filter_1
+        Checks if filter_2_bodies have a contact point within the collision volume which is a slicer meta link generated by objs in filter_1_bodies.
         '''
-        # super().__init__(filter_2_name, filter_1_name)
-        super().__init__(filter_1_name, filter_2_name)
-
+        super().__init__(filter_1_name, filter_2_name, allow_optimized=False)
+
+    def _touching_volume(self, obj_paths, volume):
+        volume_mesh_ids = lazy.pxr.PhysicsSchemaTools.encodeSdfPath(volume.prim_path)
+
+        # Define function for checking overlap
+        valid_hit = False
+
+        def overlap_callback(hit):
+            nonlocal valid_hit
+            valid_hit = hit.rigid_body in obj_paths
+            # Continue traversal only if we don't have a valid hit yet
+            return not valid_hit
+
+        def check_overlap():
+            nonlocal valid_hit
+            valid_hit = False
+            if volume.prim.GetTypeName() == "Mesh":
+                og.sim.psqi.overlap_mesh(*volume_mesh_ids, reportFn=overlap_callback)
+            else:
+                og.sim.psqi.overlap_shape(*volume_mesh_ids, reportFn=overlap_callback)
+            return valid_hit
+        
+        return check_overlap()
+        
     def __call__(self, object_candidates):
         # Keep any object that has non-zero impulses between itself and any of the @filter_2_name's objects
         objs = []
 
         # Manually check contact
-        filter_2_bodies = set.union(*(self._filter_2_bodies[obj] for obj in object_candidates[self._filter_2_name]))
+        filter_2_bodies = {x.prim_path for obj in object_candidates[self._filter_2_name] for x in self._filter_2_bodies[obj] }
+
         for obj in object_candidates[self._filter_1_name]:
+            # Find contact points with eligible objects
+            for contact in obj.contact_list():
+                if contact.body1 in filter_2_bodies:
+                    # contact_points.append(contact.position.tolist())
+                    break
+            else:
+                continue
+
+            # Find slicer volume
             slicer_volume = None
-            for name, link in self.obj.links.items():
+            for name, link in obj.links.items():
                 if 'slicer' in name:
                     slicer_volume = link
                     break
             
+            # Skip non-slicer objects
             if slicer_volume is None:
                 continue
 
-            check_in_volume, _ = generate_points_in_volume_checker_function(
-                obj=obj,
-                volume_link=slicer_volume  
-            )
-
             # Check if the contact point is within the check_in_volume function
-            for contact in obj.contact_list():
-                # Get the collision point from contact bodies and check if it happens
-                # within the slicer volume
-                if contact.body1 in filter_2_bodies and check_in_volume(contact.position):
-                    objs.append(obj)
+            if not any(self._touching_volume(filter_2_bodies, v) for v in slicer_volume.visual_meshes.values()):
+                continue
+
+            # If we make it here, this is a legit slicer contact.
+            objs.append(obj)
 
         # Update candidates
         object_candidates[self._filter_1_name] = objs
@@ -767,10 +798,7 @@ def candidate_filters(cls):
     @classmethod
     def _generate_conditions(cls):
         # sliceables should be touching any slicer
-        # return [TouchingAnyCondition(filter_1_name="sliceable", filter_2_name="slicer"),
-        #         StateCondition(filter_name="slicer", state=SlicerActive, val=True, op=operator.eq)]
-
-        return [TouchingVolumeCheckCondition(filter_1_name="slicer", filter_2_name="sliceable"),
+        return [TouchingSlicerVolumeCondition(filter_1_name="slicer", filter_2_name="sliceable"),
                 StateCondition(filter_name="slicer", state=SlicerActive, val=True, op=operator.eq)]
 
     @classmethod

From 508215bf6b29564485b73f481c25b033f47812fc Mon Sep 17 00:00:00 2001
From: Arman Aydin <86849247+goldenJester@users.noreply.github.com>
Date: Tue, 20 Feb 2024 13:57:42 -0800
Subject: [PATCH 3/5] Updates

---
 omnigibson/envs/env_base.py                   |  2 +-
 .../examples/object_states/slicing_demo.py    |  7 +-
 omnigibson/transition_rules.py                | 41 ++++------
 tests/test_transition_rules.py                | 77 +++++++++++++++++++
 tests/utils.py                                | 62 ++++++++-------
 5 files changed, 128 insertions(+), 61 deletions(-)

diff --git a/omnigibson/envs/env_base.py b/omnigibson/envs/env_base.py
index 4644a84ca..7d1bd4647 100644
--- a/omnigibson/envs/env_base.py
+++ b/omnigibson/envs/env_base.py
@@ -525,7 +525,7 @@ def step(self, action):
             self._current_step += 1
 
             return obs, reward, done, info
-        except:
+        except KeyError:
             raise ValueError(f"Failed to execute environment step {self._current_step} in episode {self._current_episode}")
 
     def _reset_variables(self):
diff --git a/omnigibson/examples/object_states/slicing_demo.py b/omnigibson/examples/object_states/slicing_demo.py
index 1d3b63a9a..db7e1bcb1 100644
--- a/omnigibson/examples/object_states/slicing_demo.py
+++ b/omnigibson/examples/object_states/slicing_demo.py
@@ -37,9 +37,8 @@ def main(random_selection=False, headless=False, short_exec=False):
     knife_cfg = dict(
         type="DatasetObject",
         name="knife",
-        category="table_knife",
-        model="lrdmpf",
-        bounding_box=[0.401, 0.044, 0.009],
+        category="carving_knife",
+        model="usqmjc",
         position=[0, 0, 10.0],
     )
 
@@ -89,13 +88,13 @@ def main(random_selection=False, headless=False, short_exec=False):
     knife.set_position_orientation(
         position=apple.get_position() + np.array([-0.15, 0.0, 0.2]),
         orientation=T.euler2quat([-np.pi / 2, 0, 0]),
-        # orientation=T.euler2quat([np.pi / 2, 0, 0])   # The back of the knife cuts the apple as well
     )
 
     input("The knife will fall on the apple and slice it. Press [ENTER] to continue.")
 
     # Step simulation for a bit so that apple is sliced
     for i in range(1000):
+    # while True:
         env.step(np.array([]))
 
     input("Apple has been sliced! Press [ENTER] to terminate the demo.")
diff --git a/omnigibson/transition_rules.py b/omnigibson/transition_rules.py
index 02673ce9d..4ffd48383 100644
--- a/omnigibson/transition_rules.py
+++ b/omnigibson/transition_rules.py
@@ -7,7 +7,6 @@
 import itertools
 import os
 import omnigibson as og
-import omnigibson.lazy as lazy
 from omnigibson.macros import gm, create_module_macros
 from omnigibson.systems import get_system, is_system_active, PhysicalParticleSystem, VisualParticleSystem, REGISTERED_SYSTEMS
 from omnigibson.objects.dataset_object import DatasetObject
@@ -422,29 +421,7 @@ def __init__(self, filter_1_name, filter_2_name):
         '''
         super().__init__(filter_1_name, filter_2_name, allow_optimized=False)
 
-    def _touching_volume(self, obj_paths, volume):
-        volume_mesh_ids = lazy.pxr.PhysicsSchemaTools.encodeSdfPath(volume.prim_path)
-
-        # Define function for checking overlap
-        valid_hit = False
-
-        def overlap_callback(hit):
-            nonlocal valid_hit
-            valid_hit = hit.rigid_body in obj_paths
-            # Continue traversal only if we don't have a valid hit yet
-            return not valid_hit
-
-        def check_overlap():
-            nonlocal valid_hit
-            valid_hit = False
-            if volume.prim.GetTypeName() == "Mesh":
-                og.sim.psqi.overlap_mesh(*volume_mesh_ids, reportFn=overlap_callback)
-            else:
-                og.sim.psqi.overlap_shape(*volume_mesh_ids, reportFn=overlap_callback)
-            return valid_hit
-        
-        return check_overlap()
-        
+
     def __call__(self, object_candidates):
         # Keep any object that has non-zero impulses between itself and any of the @filter_2_name's objects
         objs = []
@@ -454,11 +431,13 @@ def __call__(self, object_candidates):
 
         for obj in object_candidates[self._filter_1_name]:
             # Find contact points with eligible objects
+            contact_points = []
             for contact in obj.contact_list():
                 if contact.body1 in filter_2_bodies:
-                    # contact_points.append(contact.position.tolist())
-                    break
-            else:
+                    contact_points.append(contact.position.tolist())
+
+            # Skip non-contacted objects
+            if not contact_points:
                 continue
 
             # Find slicer volume
@@ -472,8 +451,14 @@ def __call__(self, object_candidates):
             if slicer_volume is None:
                 continue
 
+            # TODO: Consider moving this to the SlicerActive state for performance.
+            check_in_volume, _ = generate_points_in_volume_checker_function(
+                obj=obj,
+                volume_link=slicer_volume  
+            )
+
             # Check if the contact point is within the check_in_volume function
-            if not any(self._touching_volume(filter_2_bodies, v) for v in slicer_volume.visual_meshes.values()):
+            if not np.any(check_in_volume(contact_points)):
                 continue
 
             # If we make it here, this is a legit slicer contact.
diff --git a/tests/test_transition_rules.py b/tests/test_transition_rules.py
index 76a8348d3..a78082362 100644
--- a/tests/test_transition_rules.py
+++ b/tests/test_transition_rules.py
@@ -102,3 +102,80 @@ def test_cooking_rule():
     if dough_exists:
         og.sim.remove_object(dough)
     og.sim.remove_object(sheet)
+
+@og_test
+def test_slicer_volume_sharp_end():
+    """
+    Demo of slicing an apple into two apple slices
+    """
+
+    # Create the scene config to load -- empty scene with knife and apple
+
+    # Grab reference to apple and knife
+    apple = og.sim.scene.object_registry("name", "apple")
+    knife = og.sim.scene.object_registry("name", "knife")
+    place_obj_on_floor_plane(apple)
+    place_obj_on_floor_plane(knife)
+
+
+    # Let apple settle
+    for _ in range(50):
+        og.sim.step()
+
+    # knife.keep_still()
+    knife.set_position_orientation(
+        position=apple.get_position() + np.array([-0.15, 0.0, 0.2]),
+        orientation=T.euler2quat([-np.pi / 4, 0, 0]),
+    )
+
+    # Step simulation for a bit so that apple is sliced
+    for i in range(10000):
+        og.sim.step()
+
+    # Check if apple is sliced
+    is_empty = len(og.sim.scene.object_registry("category", "half_apple", default_val=[])) == 0 
+    assert not is_empty
+
+    # Remove objects
+    og.sim.remove_object(apple)
+    og.sim.remove_object(knife)
+
+@og_test
+def test_slicer_volume_blunt_end():
+    """
+    Demo of slicing an apple into two apple slices
+    """
+
+    # Create the scene config to load -- empty scene with knife and apple
+
+    # Grab reference to apple and knife
+    apple = og.sim.scene.object_registry("name", "apple")
+    knife = og.sim.scene.object_registry("name", "knife")
+    place_obj_on_floor_plane(apple)
+    place_obj_on_floor_plane(knife)
+
+    # Let apple settle
+    for _ in range(50):
+        og.sim.step()
+
+    knife.keep_still()
+    knife.set_position_orientation(
+        position=apple.get_position() + np.array([-0.15, 0.0, 0.15]),
+        orientation=T.euler2quat([np.pi / 2, 0, 0]),
+    )
+
+    # Step simulation for a bit so that apple is sliced
+    for i in range(100):
+        og.sim.step()
+
+
+    # Check if apple is not sliced
+    is_sliced = og.sim.scene.object_registry("name", "apple") is None
+    assert not is_sliced
+
+    # Remove objects
+    og.sim.remove_object(apple)
+    og.sim.remove_object(knife)
+
+if __name__ == "__main__":
+    test_slicer_volume_sharp_end()
\ No newline at end of file
diff --git a/tests/utils.py b/tests/utils.py
index ed006d791..20c7bbe09 100644
--- a/tests/utils.py
+++ b/tests/utils.py
@@ -2,6 +2,7 @@
 
 from omnigibson.macros import gm
 from omnigibson.object_states import *
+from omnigibson.simulator import launch_simulator
 from omnigibson.utils.constants import PrimType, ParticleModifyCondition, ParticleModifyMethod
 import omnigibson.utils.transform_utils as T
 import numpy as np
@@ -12,10 +13,11 @@
 def og_test(func):
     def wrapper():
         assert_test_scene()
-        try:
-            func()
-        finally:
-            og.sim.scene.reset()
+        func()
+        # try:
+        #     func()
+        # finally:
+        #     og.sim.scene.reset()
     return wrapper
 
 num_objs = 0
@@ -38,36 +40,40 @@ def get_obj_cfg(name, category, model, prim_type=PrimType.RIGID, scale=None, bou
     }
 
 def assert_test_scene():
+    if og.sim is None:
+        launch_simulator()
     if og.sim.scene is None:
         cfg = {
             "scene": {
                 "type": "Scene",
             },
             "objects": [
-                get_obj_cfg("breakfast_table", "breakfast_table", "skczfi"),
-                get_obj_cfg("bottom_cabinet", "bottom_cabinet", "immwzb"),
-                get_obj_cfg("dishtowel", "dishtowel", "dtfspn", prim_type=PrimType.CLOTH, abilities={"cloth": {}}),
-                get_obj_cfg("carpet", "carpet", "ctclvd", prim_type=PrimType.CLOTH, abilities={"cloth": {}}),
-                get_obj_cfg("bowl", "bowl", "ajzltc"),
-                get_obj_cfg("bagel", "bagel", "zlxkry", abilities=TEMP_RELATED_ABILITIES),
-                get_obj_cfg("cookable_dishtowel", "dishtowel", "dtfspn", prim_type=PrimType.CLOTH, abilities={**TEMP_RELATED_ABILITIES, **{"cloth": {}}}),
-                get_obj_cfg("microwave", "microwave", "hjjxmi"),
-                get_obj_cfg("stove", "stove", "yhjzwg"),
-                get_obj_cfg("fridge", "fridge", "dszchb"),
-                get_obj_cfg("plywood", "plywood", "fkmkqa", abilities={"flammable": {}}),
-                get_obj_cfg("shelf_back_panel", "shelf_back_panel", "gjsnrt", abilities={"attachable": {}}),
-                get_obj_cfg("shelf_shelf", "shelf_shelf", "ymtnqa", abilities={"attachable": {}}),
-                get_obj_cfg("shelf_baseboard", "shelf_baseboard", "hlhneo", abilities={"attachable": {}}),
-                get_obj_cfg("bracelet", "bracelet", "thqqmo"),
-                get_obj_cfg("oyster", "oyster", "enzocs"),
-                get_obj_cfg("sink", "sink", "egwapq", scale=np.ones(3)),
-                get_obj_cfg("stockpot", "stockpot", "dcleem", abilities={"fillable": {}}),
-                get_obj_cfg("applier_dishtowel", "dishtowel", "dtfspn", abilities={"particleApplier": {"method": ParticleModifyMethod.ADJACENCY, "conditions": {"water": []}}}),
-                get_obj_cfg("remover_dishtowel", "dishtowel", "dtfspn", abilities={"particleRemover": {"method": ParticleModifyMethod.ADJACENCY, "conditions": {"water": []}}}),
-                get_obj_cfg("spray_bottle", "spray_bottle", "asztxi", visual_only=True, abilities={"toggleable": {}, "particleApplier": {"method": ParticleModifyMethod.PROJECTION, "conditions": {"water": [(ParticleModifyCondition.TOGGLEDON, True)]}}}),
-                get_obj_cfg("vacuum", "vacuum", "bdmsbr", visual_only=True, abilities={"toggleable": {}, "particleRemover": {"method": ParticleModifyMethod.PROJECTION, "conditions": {"water": [(ParticleModifyCondition.TOGGLEDON, True)]}}}),
-                get_obj_cfg("blender", "blender", "cwkvib", bounding_box=[0.316, 0.318, 0.649], abilities={"fillable": {}, "blender": {}, "toggleable": {}}),
-                get_obj_cfg("oven", "oven", "cgtaer", bounding_box=[0.943, 0.837, 1.297]),
+                # get_obj_cfg("breakfast_table", "breakfast_table", "skczfi"),
+                # get_obj_cfg("bottom_cabinet", "bottom_cabinet", "immwzb"),
+                # get_obj_cfg("dishtowel", "dishtowel", "dtfspn", prim_type=PrimType.CLOTH, abilities={"cloth": {}}),
+                # get_obj_cfg("carpet", "carpet", "ctclvd", prim_type=PrimType.CLOTH, abilities={"cloth": {}}),
+                # get_obj_cfg("bowl", "bowl", "ajzltc"),
+                # get_obj_cfg("bagel", "bagel", "zlxkry", abilities=TEMP_RELATED_ABILITIES),
+                # get_obj_cfg("cookable_dishtowel", "dishtowel", "dtfspn", prim_type=PrimType.CLOTH, abilities={**TEMP_RELATED_ABILITIES, **{"cloth": {}}}),
+                # get_obj_cfg("microwave", "microwave", "hjjxmi"),
+                # get_obj_cfg("stove", "stove", "yhjzwg"),
+                # get_obj_cfg("fridge", "fridge", "dszchb"),
+                # get_obj_cfg("plywood", "plywood", "fkmkqa", abilities={"flammable": {}}),
+                # get_obj_cfg("shelf_back_panel", "shelf_back_panel", "gjsnrt", abilities={"attachable": {}}),
+                # get_obj_cfg("shelf_shelf", "shelf_shelf", "ymtnqa", abilities={"attachable": {}}),
+                # get_obj_cfg("shelf_baseboard", "shelf_baseboard", "hlhneo", abilities={"attachable": {}}),
+                # get_obj_cfg("bracelet", "bracelet", "thqqmo"),
+                # get_obj_cfg("oyster", "oyster", "enzocs"),
+                # get_obj_cfg("sink", "sink", "egwapq", scale=np.ones(3)),
+                # get_obj_cfg("stockpot", "stockpot", "dcleem", abilities={"fillable": {}}),
+                # get_obj_cfg("applier_dishtowel", "dishtowel", "dtfspn", abilities={"particleApplier": {"method": ParticleModifyMethod.ADJACENCY, "conditions": {"water": []}}}),
+                # get_obj_cfg("remover_dishtowel", "dishtowel", "dtfspn", abilities={"particleRemover": {"method": ParticleModifyMethod.ADJACENCY, "conditions": {"water": []}}}),
+                # get_obj_cfg("spray_bottle", "spray_bottle", "asztxi", visual_only=True, abilities={"toggleable": {}, "particleApplier": {"method": ParticleModifyMethod.PROJECTION, "conditions": {"water": [(ParticleModifyCondition.TOGGLEDON, True)]}}}),
+                # get_obj_cfg("vacuum", "vacuum", "bdmsbr", visual_only=True, abilities={"toggleable": {}, "particleRemover": {"method": ParticleModifyMethod.PROJECTION, "conditions": {"water": [(ParticleModifyCondition.TOGGLEDON, True)]}}}),
+                # get_obj_cfg("blender", "blender", "cwkvib", bounding_box=[0.316, 0.318, 0.649], abilities={"fillable": {}, "blender": {}, "toggleable": {}}),
+                # get_obj_cfg("oven", "oven", "cgtaer", bounding_box=[0.943, 0.837, 1.297]),
+                get_obj_cfg("knife", "carving_knife", "usqmjc"),
+                get_obj_cfg("apple", "apple", "agveuv", bounding_box=[0.098, 0.098, 0.115]),
             ],
             "robots": [
                 {

From 5b11605e2d24f9c42471c41577da10682a7d45e6 Mon Sep 17 00:00:00 2001
From: Arman Aydin <86849247+goldenJester@users.noreply.github.com>
Date: Tue, 20 Feb 2024 14:03:08 -0800
Subject: [PATCH 4/5] Readd slicing tests

---
 tests/test_transition_rules.py | 77 ++++++++++++++++++++++++++++++++++
 1 file changed, 77 insertions(+)

diff --git a/tests/test_transition_rules.py b/tests/test_transition_rules.py
index 22c4f1156..20101d772 100644
--- a/tests/test_transition_rules.py
+++ b/tests/test_transition_rules.py
@@ -1546,3 +1546,80 @@ def test_single_toggleable_machine_rule_output_object_success():
         obj = DatasetObject(**obj_cfg)
         og.sim.import_object(obj)
     og.sim.step()
+
+@og_test
+def test_slicer_volume_sharp_end():
+    """
+    Demo of slicing an apple into two apple slices
+    """
+
+    # Create the scene config to load -- empty scene with knife and apple
+
+    # Grab reference to apple and knife
+    apple = og.sim.scene.object_registry("name", "apple")
+    knife = og.sim.scene.object_registry("name", "knife")
+    place_obj_on_floor_plane(apple)
+    place_obj_on_floor_plane(knife)
+
+
+    # Let apple settle
+    for _ in range(50):
+        og.sim.step()
+
+    # knife.keep_still()
+    knife.set_position_orientation(
+        position=apple.get_position() + np.array([-0.15, 0.0, 0.2]),
+        orientation=T.euler2quat([-np.pi / 4, 0, 0]),
+    )
+
+    # Step simulation for a bit so that apple is sliced
+    for i in range(10000):
+        og.sim.step()
+
+    # Check if apple is sliced
+    is_empty = len(og.sim.scene.object_registry("category", "half_apple", default_val=[])) == 0 
+    assert not is_empty
+
+    # Remove objects
+    og.sim.remove_object(apple)
+    og.sim.remove_object(knife)
+
+@og_test
+def test_slicer_volume_blunt_end():
+    """
+    Demo of slicing an apple into two apple slices
+    """
+
+    # Create the scene config to load -- empty scene with knife and apple
+
+    # Grab reference to apple and knife
+    apple = og.sim.scene.object_registry("name", "apple")
+    knife = og.sim.scene.object_registry("name", "knife")
+    place_obj_on_floor_plane(apple)
+    place_obj_on_floor_plane(knife)
+
+    # Let apple settle
+    for _ in range(50):
+        og.sim.step()
+
+    knife.keep_still()
+    knife.set_position_orientation(
+        position=apple.get_position() + np.array([-0.15, 0.0, 0.15]),
+        orientation=T.euler2quat([np.pi / 2, 0, 0]),
+    )
+
+    # Step simulation for a bit so that apple is sliced
+    for i in range(100):
+        og.sim.step()
+
+
+    # Check if apple is not sliced
+    is_sliced = og.sim.scene.object_registry("name", "apple") is None
+    assert not is_sliced
+
+    # Remove objects
+    og.sim.remove_object(apple)
+    og.sim.remove_object(knife)
+
+if __name__ == "__main__":
+    test_slicer_volume_sharp_end()
\ No newline at end of file

From bf3c0c1d5ddd6d7bb65694e24fcf544563413e96 Mon Sep 17 00:00:00 2001
From: Arman Aydin <86849247+goldenJester@users.noreply.github.com>
Date: Mon, 11 Mar 2024 13:31:01 -0700
Subject: [PATCH 5/5] Update test_transition_rules.py

Final changes to the transition test
---
 tests/test_transition_rules.py | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/tests/test_transition_rules.py b/tests/test_transition_rules.py
index 20101d772..e881ce2d9 100644
--- a/tests/test_transition_rules.py
+++ b/tests/test_transition_rules.py
@@ -1563,17 +1563,17 @@ def test_slicer_volume_sharp_end():
 
 
     # Let apple settle
-    for _ in range(50):
+    for _ in range(100):
         og.sim.step()
 
     # knife.keep_still()
     knife.set_position_orientation(
         position=apple.get_position() + np.array([-0.15, 0.0, 0.2]),
-        orientation=T.euler2quat([-np.pi / 4, 0, 0]),
+        orientation=T.euler2quat([-np.pi, 0, 0]),
     )
 
     # Step simulation for a bit so that apple is sliced
-    for i in range(10000):
+    for i in range(100):
         og.sim.step()
 
     # Check if apple is sliced
@@ -1599,17 +1599,17 @@ def test_slicer_volume_blunt_end():
     place_obj_on_floor_plane(knife)
 
     # Let apple settle
-    for _ in range(50):
+    for _ in range(100):
         og.sim.step()
 
     knife.keep_still()
     knife.set_position_orientation(
-        position=apple.get_position() + np.array([-0.15, 0.0, 0.15]),
-        orientation=T.euler2quat([np.pi / 2, 0, 0]),
+        position=apple.get_position() + np.array([-0.15, 0.0, 0.2]),
+        orientation=T.euler2quat([np.pi, 0, 0]),
     )
 
     # Step simulation for a bit so that apple is sliced
-    for i in range(100):
+    for i in range(1000):
         og.sim.step()
 
 
@@ -1622,4 +1622,5 @@ def test_slicer_volume_blunt_end():
     og.sim.remove_object(knife)
 
 if __name__ == "__main__":
+    test_slicer_volume_blunt_end()
     test_slicer_volume_sharp_end()
\ No newline at end of file