Merge branch 'og-develop' into save-restore-ag

.github/workflows/build-push-containers.yml

@@ -10,28 +10,67 @@ on:
 
 jobs:
   docker:
-    runs-on: [self-hosted, linux, gpu]
+    runs-on: ubuntu-latest
     steps:
+      - 
+        name: Check disk space
+        run: df . -h
+      - 
+        name: Free disk space
+        run: |
+          sudo docker rmi $(docker image ls -aq) >/dev/null 2>&1 || true
+          sudo rm -rf \
+            /usr/share/dotnet /usr/local/lib/android /opt/ghc \
+            /usr/local/share/powershell /usr/share/swift /usr/local/.ghcup \
+            /usr/lib/jvm || true
+          echo "some directories deleted"
+          sudo apt install aptitude -y >/dev/null 2>&1
+          sudo aptitude purge aria2 ansible azure-cli shellcheck rpm xorriso zsync \
+            esl-erlang firefox gfortran-8 gfortran-9 google-chrome-stable \
+            google-cloud-sdk imagemagick \
+            libmagickcore-dev libmagickwand-dev libmagic-dev ant ant-optional kubectl \
+            mercurial apt-transport-https mono-complete libmysqlclient \
+            unixodbc-dev yarn chrpath libssl-dev libxft-dev \
+            libfreetype6 libfreetype6-dev libfontconfig1 libfontconfig1-dev \
+            snmp pollinate libpq-dev postgresql-client powershell ruby-full \
+            sphinxsearch subversion mongodb-org azure-cli microsoft-edge-stable \
+            -y -f >/dev/null 2>&1
+          sudo aptitude purge google-cloud-sdk -f -y >/dev/null 2>&1
+          sudo aptitude purge microsoft-edge-stable -f -y >/dev/null 2>&1 || true
+          sudo apt purge microsoft-edge-stable -f -y >/dev/null 2>&1 || true
+          sudo aptitude purge '~n ^mysql' -f -y >/dev/null 2>&1
+          sudo aptitude purge '~n ^php' -f -y >/dev/null 2>&1
+          sudo aptitude purge '~n ^dotnet' -f -y >/dev/null 2>&1
+          sudo apt-get autoremove -y >/dev/null 2>&1
+          sudo apt-get autoclean -y >/dev/null 2>&1
+          echo "some packages purged"
+      - 
+        name: Check disk space
+        run: |
+          df . -h
+      -
+        name: Checkout
+        uses: actions/checkout@v4
       -
         name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
       -
         name: Login to NVCR
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: nvcr.io
           username: ${{ secrets.NVCR_USERNAME }}
           password: ${{ secrets.NVCR_PASSWORD }}   
       -
         name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKER_HUB_USERNAME }}
           password: ${{ secrets.DOCKER_HUB_PASSWORD }}
       -
         name: Metadata for dev Image
         id: meta-dev
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: |
             stanfordvl/omnigibson-dev
@@ -41,7 +80,7 @@ jobs:
       -
         name: Metadata for prod Image
         id: meta-prod
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: |
             stanfordvl/omnigibson
@@ -50,7 +89,7 @@ jobs:
             type=semver,pattern={{version}}
       -
         name: Build and push dev image
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           push: true
           tags: ${{ steps.meta-dev.outputs.tags }}
@@ -60,11 +99,11 @@ jobs:
           cache-to: type=gha,mode=max
       -
         name: Build and push prod image
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           push: true
           tags: ${{ steps.meta-prod.outputs.tags }}
           labels: ${{ steps.meta-prod.outputs.labels }}
           file: docker/prod.Dockerfile
           cache-from: type=gha
-          cache-to: type=gha,mode=max
+          cache-to: type=gha,mode=max

.github/workflows/tests.yml

@@ -8,26 +8,7 @@ concurrency:
 
 jobs:
   test:
-    runs-on: [self-hosted, linux, gpu]
-    container:
-      image: stanfordvl/omnigibson-dev:latest
-      options: --gpus=all --privileged --user=root
-      env:
-        DISPLAY: ""
-        OMNIGIBSON_HEADLESS: 1
-      volumes:
-        - /scr/omni-data/datasets:/data
-        - /usr/share/vulkan/icd.d/nvidia_icd.json:/etc/vulkan/icd.d/nvidia_icd.json
-        - /usr/share/vulkan/icd.d/nvidia_layers.json:/etc/vulkan/implicit_layer.d/nvidia_layers.json
-        - /usr/share/glvnd/egl_vendor.d/10_nvidia.json:/usr/share/glvnd/egl_vendor.d/10_nvidia.json
-        - /scr/omni-data/isaac-sim/cache/ov:/root/.cache/ov:rw
-        - /scr/omni-data/isaac-sim/cache/pip:/root/.cache/pip:rw
-        - /scr/omni-data/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw
-        - /scr/omni-data/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw
-        - /scr/omni-data/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw
-        - /scr/omni-data/isaac-sim/config:/root/.nvidia-omniverse/config:rw
-        - /scr/omni-data/isaac-sim/data:/root/.local/share/ov/data:rw
-        - /scr/omni-data/isaac-sim/documents:/root/Documents:rw
+    runs-on: [self-hosted, linux, gpu, dataset-enabled]
 
     defaults:
       run:

README.md

@@ -22,7 +22,7 @@
 * 🤖 Mobile Manipulator Robots with Modular ⚙️ Controllers
 * 🌎 OpenAI Gym Interface
 
-Check out [**`OmniGibson`**'s documentation](https://stanfordvl.github.io/OmniGibson/getting_started/installation.html) to get started!
+Check out [**`OmniGibson`**'s documentation](https://behavior.stanford.edu/omnigibson/getting_started/installation.html) to get started!
 
 ### Citation
 If you use **`OmniGibson`** or its assets and models, please cite:

docker/dev.Dockerfile

@@ -1,4 +1,4 @@
-FROM nvcr.io/nvidia/isaac-sim:2022.2.0
+FROM nvcr.io/nvidia/isaac-sim:2023.1.0
 
 # Set up all the prerequisites.
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
@@ -19,7 +19,7 @@ ENV OMNIGIBSON_KEY_PATH /data/omnigibson.key
 # Install Mamba (light conda alternative)
 RUN curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xvj -C / bin/micromamba
 ENV MAMBA_ROOT_PREFIX /micromamba
-RUN micromamba create -n omnigibson -c conda-forge python=3.7
+RUN micromamba create -n omnigibson -c conda-forge python=3.10
 RUN micromamba shell init --shell=bash --prefix=/micromamba
 
 # Make sure isaac gets properly sourced every time omnigibson gets called
@@ -45,8 +45,8 @@ RUN cd /ompl/build/Release && \
     micromamba run -n omnigibson cmake ../.. \
       -DCMAKE_INSTALL_PREFIX="$CONDA_PREFIX" \
       -DBOOST_ROOT="$CONDA_PREFIX" \
-      -DPYTHON_EXEC=/micromamba/envs/omnigibson/bin/python3.7 \
-      -DPYTHONPATH=/micromamba/envs/omnigibson/lib/python3.7/site-packages && \
+      -DPYTHON_EXEC=/micromamba/envs/omnigibson/bin/python3.10 \
+      -DPYTHONPATH=/micromamba/envs/omnigibson/lib/python3.10/site-packages && \
     micromamba run -n omnigibson make -j 4 update_bindings && \
     micromamba run -n omnigibson make -j 4 && \
     cd py-bindings && \

docker/run_docker.sh

@@ -26,55 +26,6 @@ do
     esac
 done
 
-ICD_PATH_1="/usr/share/vulkan/icd.d/nvidia_icd.json"
-ICD_PATH_2="/etc/vulkan/icd.d/nvidia_icd.json"
-LAYERS_PATH_1="/usr/share/vulkan/icd.d/nvidia_layers.json"
-LAYERS_PATH_2="/usr/share/vulkan/implicit_layer.d/nvidia_layers.json"
-LAYERS_PATH_3="/etc/vulkan/implicit_layer.d/nvidia_layers.json"
-EGL_VENDOR_PATH="/usr/share/glvnd/egl_vendor.d/10_nvidia.json"
-
-# Find the ICD file
-if [ -e "$ICD_PATH_1" ]; then
-    ICD_PATH=$ICD_PATH_1
-elif [ -e "$ICD_PATH_2" ]; then
-    ICD_PATH=$ICD_PATH_2
-else
-    echo "Missing nvidia_icd.json file.";
-    echo "Typical paths:";
-    echo "- /usr/share/vulkan/icd.d/nvidia_icd.json or";
-    echo "- /etc/vulkan/icd.d/nvidia_icd.json";
-    echo "You can google nvidia_icd.json for your distro to find the correct path.";
-    echo "Consider updating your driver to 525 if you cannot find the file.";
-    echo "To continue update the ICD_PATH_1 at the top of the run_docker.sh file and retry";
-    exit;
-fi
-
-# Find the layers file
-if [ -e "$LAYERS_PATH_1" ]; then
-    LAYERS_PATH=$LAYERS_PATH_1
-elif [ -e "$LAYERS_PATH_2" ]; then
-    LAYERS_PATH=$LAYERS_PATH_2
-elif [ -e "$LAYERS_PATH_3" ]; then
-    LAYERS_PATH=$LAYERS_PATH_3
-else
-    echo "Missing nvidia_layers.json file."
-    echo "Typical paths:";
-    echo "- /usr/share/vulkan/icd.d/nvidia_layers.json";
-    echo "- /usr/share/vulkan/implicit_layer.d/nvidia_layers.json";
-    echo "- /etc/vulkan/implicit_layer.d/nvidia_layers.json";
-    echo "You can google nvidia_layers.json for your distro to find the correct path.";
-    echo "Consider updating your driver to 525 if you cannot find the file.";
-    echo "To continue update the LAYERS_PATH_1 at the top of the run_docker.sh file and retry";
-    exit;
-fi 
-
-if [ ! -e "$EGL_VENDOR_PATH" ]; then
-    echo "Missing ${EGL_VENDOR_PATH} file."
-    echo "(default path: /usr/share/vulkan/icd.d/nvidia_icd.json)";
-    echo "To continue update the EGL_VENDOR_PATH at the top of the run_docker.sh file and retry";
-    exit;
-fi 
-
 # Move directories from their legacy paths.
 if [ -e "${DATA_PATH}/og_dataset" ]; then
     mv "${DATA_PATH}/og_dataset" "${DATA_PATH}/datasets/og_dataset"
@@ -117,9 +68,6 @@ docker run \
     -e DISPLAY=${DOCKER_DISPLAY} \
     -e OMNIGIBSON_HEADLESS=${OMNIGIBSON_HEADLESS} \
     -v $DATA_PATH/datasets:/data \
-    -v ${ICD_PATH}:/etc/vulkan/icd.d/nvidia_icd.json \
-    -v ${LAYERS_PATH}:/etc/vulkan/implicit_layer.d/nvidia_layers.json \
-    -v ${EGL_VENDOR_PATH}:/usr/share/glvnd/egl_vendor.d/10_nvidia.json \
     -v $DATA_PATH/isaac-sim/cache/kit:/isaac-sim/kit/cache/Kit:rw \
     -v $DATA_PATH/isaac-sim/cache/ov:/root/.cache/ov:rw \
     -v $DATA_PATH/isaac-sim/cache/pip:/root/.cache/pip:rw \

docs/getting_started/building_blocks.md

@@ -11,7 +11,7 @@ icon: octicons/package-16
 
 ??? question annotate "Why macros?"
 
-    Macros enforce global behavior that is consistent within an individual python process but can differ between processes. This is useful because globally enabling all of **`OmniGibson`**'s features can cause unecessary slowdowns, and so configuring the macros for your specific use case can optimize performance.
+    Macros enforce global behavior that is consistent within an individual python process but can differ between processes. This is useful because globally enabling all of **`OmniGibson`**'s features can cause unnecessary slowdowns, and so configuring the macros for your specific use case can optimize performance.
 
     For example, Omniverse provides a so-called `flatcache` feature which provides significant performance boosts, but cannot be used when fluids or soft bodies are present. So, we ideally should always have `gm.USE_FLATCACHE=True` unless we have fluids or soft bodies in our environment.
 
@@ -407,7 +407,7 @@ python -m omnigibson.examples.object_states.particle_source_sink_demo
 
 This demo loads in a sink, which is enabled with both the ParticleSource and ParticleSink states. The sink's particle source is located at the faucet spout and spawns a continuous stream of water particles, which is then destroyed ("sunk") by the sink's particle sink located at the drain.
 
-??? note "Difference bewteen `ParticleApplier/Removers` and `ParticleSource/Sinks`"
+??? note "Difference between `ParticleApplier/Removers` and `ParticleSource/Sinks`"
     The key difference between `ParticleApplier/Removers` and `ParticleSource/Sinks` is that `Applier/Removers`
     requires contact (if using `ParticleProjectionMethod.ADJACENCY`) or overlap
     (if using `ParticleProjectionMethod.PROJECTION`) in order to spawn / remove particles, and generally only spawn

omnigibson/robots/__init__.py

@@ -9,3 +9,5 @@
 from omnigibson.robots.fetch import Fetch
 from omnigibson.robots.tiago import Tiago
 from omnigibson.robots.two_wheel_robot import TwoWheelRobot
+from omnigibson.robots.franka import FrankaPanda
+from omnigibson.robots.franka_allegro import FrankaAllegro