Bug: grasp_sim.py always loads mug.obj even when YAML specifies another object

[adalmases-sdk]

While running grasp_sim.py with a custom grasp file (e.g. banana.yaml), the simulator still loads mug.obj.
After debugging, I found that ObjectConfig.from_isaac_grasp_dict() overwrites the YAML object_file with the default CLI argument (objects/mug.obj) even when --object_file isn’t explicitly passed.

I solved it by modifying the scripts/graspgen/object.py file:

 def from_isaac_grasp_dict(cls, grasp_dict, grasp_file_args=None):
        # Initialize default values
        object_file = default_object_file
        object_scale = default_object_scale
        obj2usd_use_existing_usd = default_obj2usd_use_existing_usd
        obj2usd_collision_approximation = default_obj2usd_collision_approximation
        obj2usd_friction = default_obj2usd_friction

        # First, apply values from grasp file (lowest priority)
        if 'object_file' in grasp_dict:
            object_file = grasp_dict["object_file"]
        if 'object_scale' in grasp_dict:
            object_scale = grasp_dict["object_scale"]

        if 'obj2usd_use_existing_usd' in grasp_dict:
            obj2usd_use_existing_usd = grasp_dict["obj2usd_use_existing_usd"]
        if 'obj2usd_collision_approximation' in grasp_dict:
            obj2usd_collision_approximation = grasp_dict["obj2usd_collision_approximation"]
        if 'obj2usd_friction' in grasp_dict:
            obj2usd_friction = grasp_dict["obj2usd_friction"]

        # Then, override with command line arguments *only if explicitly set* (highest priority) 
        if grasp_file_args is not None:
            def arg_explicit(attr, default_val):
                """Return True if CLI arg differs from its parser default."""
                return hasattr(grasp_file_args, attr) and getattr(grasp_file_args, attr) != default_val

            if arg_explicit("object_file", default_object_file):
                object_file = grasp_file_args.object_file
            if arg_explicit("object_scale", default_object_scale):
                object_scale = grasp_file_args.object_scale
            if arg_explicit("obj2usd_use_existing_usd", default_obj2usd_use_existing_usd):
                obj2usd_use_existing_usd = grasp_file_args.obj2usd_use_existing_usd
            if arg_explicit("obj2usd_collision_approximation", default_obj2usd_collision_approximation):
                obj2usd_collision_approximation = grasp_file_args.obj2usd_collision_approximation
            if arg_explicit("obj2usd_friction", default_obj2usd_friction):
                obj2usd_friction = grasp_file_args.obj2usd_friction

        return cls(object_file=object_file, object_scale=object_scale,
                   obj2usd_use_existing_usd=obj2usd_use_existing_usd,
                   obj2usd_collision_approximation=obj2usd_collision_approximation,
                   obj2usd_friction=obj2usd_friction)