prune utils, update docs, update package deps version

StanfordVL · Dec 12, 2024 · 1ca3f87 · 1ca3f87
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diff --git a/docs/tutorials/custom_robot_import.md b/docs/tutorials/custom_robot_import.md
@@ -19,8 +19,7 @@ There are two ways to convert our raw robot URDF into an OmniGibson-compatible U
 Our custom robot importer [`import_custom_robot.py`](https://github.com/StanfordVL/OmniGibson/tree/main/omnigibson/examples/robots/import_custom_robot.py) wraps the native URDF Importer from Isaac Sim to convert our robot URDF model into USD format. Please see the following steps for running this script:
 
 1. All that is required is a single source config yaml file that dictates how the URDF should be post-processed when being converted into a USD. You can run `import_custom_robot.py --help` to see a detailed example configuration used, which is also shown below (`r1_pro_source_config.yaml`) for your convenience.
-2. All output files are written to `<gm.EXTERNAL_DATASET_PATH>/objects/robot/<name>`. Please copy / move this directory to `<gm.ASSET_PATH>/objects/<name>` so it can be imported into **OmniGibson**.
-3. That's it!
+2. All output files are written to `<gm.EXTERNAL_DATASET_PATH>/objects/robot/<name>`. Please move this directory to `<gm.ASSET_PATH>/objects/<name>` so it can be imported into **OmniGibson**.
 
 Some notes about the importing script:
 

diff --git a/omnigibson/utils/asset_conversion_utils.py b/omnigibson/utils/asset_conversion_utils.py
@@ -560,91 +560,6 @@ def _import_rendering_channels(obj_prim, obj_category, obj_model, model_root_pat
     # Lastly, we copy object_state texture maps that are state-conditioned; e.g.: cooked, soaked, etc.
     _copy_object_state_textures(obj_category=obj_category, obj_model=obj_model, dataset_root=dataset_root)
 
-    # ###################################
-    #
-    # # Iterate over all children of the object prim, if /<obj_name>/<link_name>/visual exists, then we
-    # # know <link_name> is a valid link, and we check explicitly for these material files in our set
-    # # Note: we assume that the link name is included as a string within the mat_file!
-    # for prim in obj_prim.GetChildren():
-    #     if prim.GetPrimTypeInfo().GetTypeName() == "Xform":
-    #         # This could be a link, check if it owns a visual subprim
-    #         link_name = prim.GetName()
-    #         visual_prim = lazy.omni.isaac.core.utils.prims.get_prim_at_path(f"{prim.GetPrimPath().pathString}/visuals")
-    #         log.debug(f"path: {prim.GetPrimPath().pathString}/visuals")
-    #         log.debug(f"visual prim: {visual_prim}")
-    #
-    #         if visual_prim:
-    #             # Aggregate all material files for this prim
-    #             link_mat_files = []
-    #             for mat_file in deepcopy(mat_files):
-    #                 if link_name in mat_file:
-    #                     # Add this mat file and remove it from the set
-    #                     link_mat_files.append(mat_file)
-    #                     mat_files.remove(mat_file)
-    #             # Potentially write material files for this prim if we have any valid materials
-    #             log.debug("link_mat_files:", link_mat_files)
-    #             if not link_mat_files:
-    #                 # Bind default material to the visual prim
-    #                 shade = lazy.pxr.UsdShade.Material(default_mat)
-    #                 lazy.pxr.UsdShade.MaterialBindingAPI(visual_prim).Bind(shade, lazy.pxr.UsdShade.Tokens.strongerThanDescendants)
-    #                 default_mat_is_used = True
-    #             else:
-    #                 # Create new material for this link
-    #                 mtl_created_list = []
-    #                 lazy.omni.kit.commands.execute(
-    #                     "CreateAndBindMdlMaterialFromLibrary",
-    #                     mdl_name="OmniPBR.mdl",
-    #                     mtl_name="OmniPBR",
-    #                     mtl_created_list=mtl_created_list,
-    #                 )
-    #                 log.debug(f"Created material for link {link_name}:", mtl_created_list[0])
-    #                 mat = lazy.omni.isaac.core.utils.prims.get_prim_at_path(mtl_created_list[0])
-    #
-    #                 shade = lazy.pxr.UsdShade.Material(mat)
-    #                 # Bind the created link material to the visual prim
-    #                 lazy.pxr.UsdShade.MaterialBindingAPI(visual_prim).Bind(shade, lazy.pxr.UsdShade.Tokens.strongerThanDescendants)
-    #
-    #                 # Iterate over all material channels and write them to the material
-    #                 for link_mat_file in link_mat_files:
-    #                     # Copy this file into the materials folder
-    #                     mat_fpath = os.path.join(usd_dir, "materials")
-    #                     shutil.copy(os.path.join(mat_dir, link_mat_file), mat_fpath)
-    #                     # Check if any valid rendering channel
-    #                     mat_type = link_mat_file.split("_")[-1].split(".")[0].lower()
-    #                     # Apply the material if it exists
-    #                     render_channel_fcn = rendering_channel_mappings.get(mat_type, None)
-    #                     if render_channel_fcn is not None:
-    #                         render_channel_fcn(mat, os.path.join("materials", link_mat_file))
-    #                     else:
-    #                         # Warn user that we didn't find the correct rendering channel
-    #                         log.warning(f"Warning: could not find rendering channel function for material: {mat_type}, skipping")
-    #
-    #                 # Rename material
-    #                 mat = rename_prim(prim=mat, name=f"material_{link_name}")
-    #
-    # # For any remaining materials, we write them to the default material
-    # # default_mat = lazy.omni.isaac.core.utils.prims.get_prim_at_path(f"{obj_prim.GetPrimPath().pathString}/Looks/material_material_0")
-    # # default_mat = lazy.omni.isaac.core.utils.prims.get_prim_at_path(f"{obj_prim.GetPrimPath().pathString}/Looks/material_default")
-    # log.debug(f"default mat: {default_mat}, obj: {obj_category}, {prim.GetPrimPath().pathString}")
-    # for mat_file in mat_files:
-    #     # Copy this file into the materials folder
-    #     mat_fpath = os.path.join(usd_dir, "materials")
-    #     shutil.copy(os.path.join(mat_dir, mat_file), mat_fpath)
-    #     # Check if any valid rendering channel
-    #     mat_type = mat_file.split("_")[-1].split(".")[0].lower()
-    #     # Apply the material if it exists
-    #     render_channel_fcn = rendering_channel_mappings.get(mat_type, None)
-    #     if render_channel_fcn is not None:
-    #         render_channel_fcn(default_mat, os.path.join("materials", mat_file))
-    #         default_mat_is_used = True
-    #     else:
-    #         # Warn user that we didn't find the correct rendering channel
-    #         log.warning(f"Could not find rendering channel function for material: {mat_type}")
-    #
-    # # Possibly delete the default material prim if it was never used
-    # if not default_mat_is_used:
-    #     stage.RemovePrim(default_mat.GetPrimPath())
-
 
 def _add_xform_properties(prim):
     """

diff --git a/setup.py b/setup.py
@@ -47,7 +47,7 @@
         "rtree>=1.2.0",
         "graphviz>=0.20",
         "matplotlib>=3.0.0",
-        "lxml",
+        "lxml>=5.3.0",
     ],
     extras_require={
         "dev": [