From b2b24f594a9c311d1377927867e7385e9c42a240 Mon Sep 17 00:00:00 2001
From: Kangrui Wang <krwang2022@gmail.com>
Date: Sun, 7 Apr 2024 23:01:20 -0500
Subject: [PATCH] fixed issues to replay demo

---
 igibson/envs/behavior_mp_env.py                             | 2 +-
 .../examples/behavior/behavior_demo_segmentation_batch.py   | 3 +++
 .../behavior/behavior_replay_using_motion_primitives.py     | 6 +++---
 igibson/render/openvr                                       | 2 +-
 4 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/igibson/envs/behavior_mp_env.py b/igibson/envs/behavior_mp_env.py
index e920ebc53..b79ec827b 100644
--- a/igibson/envs/behavior_mp_env.py
+++ b/igibson/envs/behavior_mp_env.py
@@ -90,6 +90,7 @@ def __init__(
         @param use_motion_planning: Whether motion-planned primitives or magic primitives should be used
         @param activity_relevant_objects_only: Whether the actions should be parameterized by AROs or all scene objs.
         """
+        self.activity_relevant_objects_only = activity_relevant_objects_only
         super(BehaviorMPEnv, self).__init__(
             config_file=config_file,
             scene_id=scene_id,
@@ -104,7 +105,6 @@ def __init__(
         )
 
         self.use_motion_planning = use_motion_planning
-        self.activity_relevant_objects_only = activity_relevant_objects_only
         self.robots[0].initial_z_offset = 0.7
 
     def load_action_space(self):
diff --git a/igibson/examples/behavior/behavior_demo_segmentation_batch.py b/igibson/examples/behavior/behavior_demo_segmentation_batch.py
index f823dea3a..39ce4f6c6 100644
--- a/igibson/examples/behavior/behavior_demo_segmentation_batch.py
+++ b/igibson/examples/behavior/behavior_demo_segmentation_batch.py
@@ -37,3 +37,6 @@ def data_callback():
 
 if __name__ == "__main__":
     main()
+
+
+# python .\igibson\examples\behavior\behavior_demo_segmentation_batch.py .\igibson\data\virtual_reality .\igibson\data\virtual_reality\log_manifest .\igibson\data\virtual_reality_segmentation_results 
\ No newline at end of file
diff --git a/igibson/examples/behavior/behavior_replay_using_motion_primitives.py b/igibson/examples/behavior/behavior_replay_using_motion_primitives.py
index 57b4f1e1a..9d33d71eb 100644
--- a/igibson/examples/behavior/behavior_replay_using_motion_primitives.py
+++ b/igibson/examples/behavior/behavior_replay_using_motion_primitives.py
@@ -198,9 +198,9 @@ def run_demonstration(demo_path, segmentation_path, output_path):
 
 def main():
     parser = argparse.ArgumentParser()
-    parser.add_argument("demo_path", type=str, help="Path of the demo hdf5 to replay.")
-    parser.add_argument("segmentation_path", type=str, help="Path of the segmentation of the demo.")
-    parser.add_argument("output_path", type=str, help="Path to output result JSON file to.")
+    parser.add_argument("--demo_path", type=str, help="Path of the demo hdf5 to replay.")
+    parser.add_argument("--segmentation_path", type=str, help="Path of the segmentation of the demo.")
+    parser.add_argument("--output_path", type=str, help="Path to output result JSON file to.")
     args = parser.parse_args()
 
     run_demonstration(args.demo_path, args.segmentation_path, args.output_path)
diff --git a/igibson/render/openvr b/igibson/render/openvr
index 0eb70325a..f51d87ecf 160000
--- a/igibson/render/openvr
+++ b/igibson/render/openvr
@@ -1 +1 @@
-Subproject commit 0eb70325a4ea3edca2a0ff8aefa631f2529e6eb7
+Subproject commit f51d87ecf8f7903e859b0aa4d617ff1e5f33db5a