fix cloth loading problems: caused by non-watertight, and potential m…

…ultiple pieces

omnigibson/objects/dataset_object.py

@@ -119,16 +119,6 @@ def __init__(
             assert len(available_models) > 0, f"No available models found for category {category}!"
             model = random.choice(available_models)
 
-        # If the model is in BAD_CLOTH_MODELS, raise an error for now -- this is a model that's unstable and needs to be fixed
-        # TODO: Remove this once the asset is fixed!
-        from omnigibson.utils.bddl_utils import BAD_CLOTH_MODELS
-
-        if prim_type == PrimType.CLOTH and model in BAD_CLOTH_MODELS.get(category, dict()):
-            raise ValueError(
-                f"Cannot create cloth object category: {category}, model: {model} because it is "
-                f"currently broken ): This will be fixed in the next release!"
-            )
-
         self._model = model
         usd_path = self.get_usd_path(category=category, model=model, dataset_type=dataset_type)
 

omnigibson/systems/micro_particle_system.py

@@ -32,18 +32,16 @@
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
 
-
-# TODO: Tune these default values!
 # TODO (eric): figure out whether one offset can fit all
 m.MAX_CLOTH_PARTICLES = 20000  # Comes from a limitation in physx - do not increase
 m.CLOTH_PARTICLE_CONTACT_OFFSET = 0.0075
 m.CLOTH_REMESHING_ERROR_THRESHOLD = 0.05
-m.CLOTH_STRETCH_STIFFNESS = 10000.0
-m.CLOTH_BEND_STIFFNESS = 200.0
-m.CLOTH_SHEAR_STIFFNESS = 100.0
-m.CLOTH_DAMPING = 0.2
+m.CLOTH_STRETCH_STIFFNESS = 100.0
+m.CLOTH_BEND_STIFFNESS = 50.0
+m.CLOTH_SHEAR_STIFFNESS = 70.0
+m.CLOTH_DAMPING = 0.02
 m.CLOTH_FRICTION = 0.4
-m.CLOTH_DRAG = 0.001
+m.CLOTH_DRAG = 0.02
 m.CLOTH_LIFT = 0.003
 m.MIN_PARTICLE_CONTACT_OFFSET = 0.005  # Minimum particle contact offset for physical micro particles
 m.FLUID_PARTICLE_PARTICLE_DISTANCE_SCALE = 0.8  # How much overlap expected between fluid particles at rest
@@ -1716,6 +1714,25 @@ def clothify_mesh_prim(self, mesh_prim, remesh=True, particle_distance=None):
                     ms.meshing_isotropic_explicit_remeshing(
                         iterations=5, adaptive=True, targetlen=pymeshlab.AbsoluteValue(particle_distance)
                     )
+                    # Make sure the clothes is watertight
+                    ms.meshing_repair_non_manifold_edges()
+                    ms.meshing_repair_non_manifold_vertices()
+
+                    # If the cloth has multiple pieces, only keep the largest one
+                    ms.generate_splitting_by_connected_components(delete_source_mesh=True)
+                    if len(ms) > 1:
+                        log.warning(f"The cloth mesh has {len(ms)} disconnected pieces. To simplify, we only keep the mesh with largest face number.")
+                        biggest_face_num = 0
+                        for split_mesh in ms:
+                            face_num = split_mesh.face_number()
+                            if face_num > biggest_face_num:
+                                biggest_face_num = face_num
+                        new_ms = pymeshlab.MeshSet()
+                        for split_mesh in ms:
+                            if split_mesh.face_number() == biggest_face_num:
+                                new_ms.add_mesh(split_mesh)
+                        ms = new_ms
+
                     avg_edge_percentage_mismatch = abs(
                         1.0 - particle_distance / ms.get_geometric_measures()["avg_edge_length"]
                     )