Merge pull request #142 from StanfordVL/demo-fix

fix bugs in og examples

omnigibson/configs/fetch_behavior.yaml

@@ -50,7 +50,7 @@ objects: []
 
 task:
   type: BehaviorTask
-  activity_name: putting_away_Halloween_decorations
+  activity_name: assembling_gift_baskets
   activity_definition_id: 0
   activity_instance_id: 0
   predefined_problem: null

omnigibson/examples/learning/navigation_policy_demo.py

@@ -28,10 +28,12 @@
     og.log.error("torch, stable-baselines3, or tensorboard is not installed. "
                  "See which packages are missing, and then run the following for any missing packages:\n"
                  "pip install torch\n"
-                 "pip install stable-baselines3\n"
-                 "pip install tensorboard")
+                 "pip install stable-baselines3==1.7.0\n"
+                 "pip install tensorboard\n"
+                 "Also, please update gym to 0.26.1 after installing sb3: pip install gym==0.26.1")
     exit(1)
 
+assert gym.__version__ == '0.26.1', "Please install/update gym to version 0.26.1"
 
 # We don't need object states nor transitions rules, so we disable them now, and also enable flatcache for maximum speed
 gm.ENABLE_OBJECT_STATES = False

omnigibson/examples/renderer_settings/renderer_settings_example.py

@@ -14,7 +14,7 @@ def main(random_selection=False, headless=False, short_exec=False):
         type="DatasetObject",
         name="banana",
         category="banana",
-        model="09_0",
+        model="vvyyyv",
         scale=[3.0, 5.0, 2.0],
         position=[-0.906661, -0.545106,  0.136824],
         orientation=[0, 0, 0.76040583, -0.6494482 ],
@@ -24,7 +24,7 @@ def main(random_selection=False, headless=False, short_exec=False):
         type="DatasetObject",
         name="door",
         category="door",
-        model="8930",
+        model="ohagsq",
         position=[-2.0, 0, 0.70000001],
         orientation=[0, 0, -0.38268343,  0.92387953],
     )

omnigibson/prims/material_prim.py

@@ -104,7 +104,7 @@ def shader_force_populate(self, render=True):
                 occurred externally, no additional rendering step is needed
         """
         assert self._shader is not None
-        asyncio.run(asyncio.wait([self._load_mdl_parameters(render=render)]))
+        asyncio.run(self._load_mdl_parameters(render=render))
 
     def shader_update_asset_paths_with_root_path(self, root_path):
         """

omnigibson/robots/manipulation_robot.py

@@ -1035,7 +1035,7 @@ def _establish_grasp_rigid(self, arm="default", ag_data=None):
             joint_type=joint_type,
             body0=self.eef_links[arm].prim_path,
             body1=ag_link.prim_path,
-            enabled=False,
+            enabled=True,
             joint_frame_in_parent_frame_pos=parent_frame_pos / self.scale,
             joint_frame_in_parent_frame_quat=parent_frame_orn,
             joint_frame_in_child_frame_pos=child_frame_pos / ag_obj.scale,

omnigibson/utils/ui_utils.py

@@ -715,11 +715,12 @@ def get_teleop_action(self):
             # Only handle the action if the value is specified
             if val is not None:
                 # If there is no index, the user is controlling a joint with "[" and "]"
-                if idx is None:
+                if idx is None and len(self.joint_command_idx) != 0:
                     idx = self.joint_command_idx[self.active_joint_command_idx_idx]
 
                 # Set the action
-                action[idx] = val
+                if idx is not None:
+                    action[idx] = val
 
         # Possibly set the persistent gripper action
         if len(self.binary_grippers) > 0 and self.keypress_mapping[carb.input.KeyboardInput.T]["val"] is not None: