Merge branch 'og-develop' into trigger_volumes

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,32 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: hang-yin
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Desktop (please complete the following information):**
+ - OS: [e.g. Ubuntu 22.04]
+ - Isaac Sim Version [e.g. 4.1.0]
+ - OmniGibson Version [e.g. 1.1.0]
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: enhancement
+assignees: cgokmen
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/ISSUE_TEMPLATE/question.md

@@ -0,0 +1,10 @@
+---
+name: Question
+about: PLEASE POST QUESTIONS IN THE DISCUSSIONS TAB
+title: ''
+labels: question
+assignees: ''
+
+---
+
+**PLEASE POST QUESTIONS IN THE DISCUSSIONS TAB**

.github/workflows/examples-as-test.yml

@@ -26,13 +26,19 @@ jobs:
           submodules: true
           path: omnigibson-src
 
-      - name: Install dev requirements
-        working-directory: omnigibson-src
-        run: pip install -r requirements-dev.txt
+      # These are temporarily disabled due to some errors they cause where some
+      # unknown important dependency has its version changed and Isaac Sim will
+      # no longer launch properly. The result is that if dependencies change,
+      # the tests will stop working. This is a temporary fix until we can figure
+      # out how to fix this issue.
+
+      # - name: Install dev requirements
+      #   working-directory: omnigibson-src
+      #   run: pip install -r requirements-dev.txt
 
-      - name: Install
-        working-directory: omnigibson-src
-        run: pip install -e .
+      # - name: Install
+      #   working-directory: omnigibson-src
+      #   run: pip install -e .
 
       - name: Generate example tests
         working-directory: omnigibson-src

.github/workflows/profiling.yml

@@ -32,11 +32,19 @@ jobs:
       - name: Checkout source
         uses: actions/checkout@v3
 
-      - name: Install dev requirements
-        run: pip install -r requirements-dev.txt
-
-      - name: Install
-        run: pip install -e .
+      # These are temporarily disabled due to some errors they cause where some
+      # unknown important dependency has its version changed and Isaac Sim will
+      # no longer launch properly. The result is that if dependencies change,
+      # the tests will stop working. This is a temporary fix until we can figure
+      # out how to fix this issue.
+
+      # - name: Install dev requirements
+      #   working-directory: omnigibson-src
+      #   run: pip install -r requirements-dev.txt
+
+      # - name: Install
+      #   working-directory: omnigibson-src
+      #   run: pip install -e .
 
       - name: Run performance benchmark
         run: bash scripts/profiling.sh

.github/workflows/tests.yml

@@ -49,13 +49,22 @@ jobs:
           submodules: true
           path: omnigibson-src
 
-      - name: Install dev requirements
-        working-directory: omnigibson-src
-        run: pip install -r requirements-dev.txt
+      # These are temporarily disabled due to some errors they cause where some
+      # unknown important dependency has its version changed and Isaac Sim will
+      # no longer launch properly. The result is that if dependencies change,
+      # the tests will stop working. This is a temporary fix until we can figure
+      # out how to fix this issue.
 
-      - name: Install
-        working-directory: omnigibson-src
-        run: pip install -e .
+      # - name: Install dev requirements
+      #   working-directory: omnigibson-src
+      #   run: pip install -r requirements-dev.txt
+
+      # - name: Install
+      #   working-directory: omnigibson-src
+      #   run: pip install -e .
+
+      - name: Print env
+        run: printenv
 
       - name: Run tests
         working-directory: omnigibson-src
@@ -68,17 +77,22 @@ jobs:
           name: ${{ github.run_id }}-tests-${{ matrix.test_file }}
           path: ${{ matrix.test_file }}.xml
 
-      - name: Check for failures or errors
+      - name: Check for failures, errors, or missing XML
         run: |
-          if grep -Eq 'failures="[1-9][0-9]*"|errors="[1-9][0-9]*"' ${{ matrix.test_file }}.xml; then
+          if [ ! -f ${{ matrix.test_file }}.xml ]; then
+            echo "Error: XML file not found, probably due to segfault"
+            exit 1
+          elif grep -Eq 'failures="[1-9][0-9]*"|errors="[1-9][0-9]*"' ${{ matrix.test_file }}.xml; then
+            echo "Error: Test failures or errors found"
             exit 1
           else
+            echo "All tests passed successfully"
             exit 0
           fi
 
   upload_report:
     name: Compile Report
-    runs-on: [self-hosted, linux]
+    runs-on: ubuntu-latest
     defaults:
       run:
         shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}

README.md

@@ -19,7 +19,7 @@
 
 - [08/04/23] **v0.2.0**: More assets! 600 pre-sampled tasks, 7 new scenes, and many new objects 📈 [[release notes]](https://github.com/StanfordVL/OmniGibson/releases/tag/v0.2.0)
 
-- [04/10/22] **v0.1.0**: Significantly improved stability, performance, and ease of installation :wrench: [[release notes]](https://github.com/StanfordVL/OmniGibson/releases/tag/v0.1.0)
+- [04/10/23] **v0.1.0**: Significantly improved stability, performance, and ease of installation :wrench: [[release notes]](https://github.com/StanfordVL/OmniGibson/releases/tag/v0.1.0)
 
 -------
 

docker/prod.Dockerfile

@@ -21,7 +21,7 @@ ENV OMNIGIBSON_KEY_PATH /data/omnigibson.key
 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=3.10
-RUN micromamba shell init --shell=bash --prefix=/micromamba
+RUN micromamba shell init --shell=bash
 
 # Make sure isaac gets properly sourced every time omnigibson gets called
 ARG CONDA_ACT_FILE="/micromamba/envs/omnigibson/etc/conda/activate.d/env_vars.sh"

docs/getting_started/installation.md

@@ -78,11 +78,11 @@ There are three ways to setup **`OmniGibson`**, all built upon different ways of
 
         3. Run the installation script to  install Isaac Sim as well as **`OmniGibson`** dataset and assets:
 
-            ```{.shell .annotate} 
-            python -m omnigibson.install # (1)!
+            ```shell
+            python -m omnigibson.install
             ```
 
-            1. You can apply additional flag `--no-install-datasets` to skip dataset install.
+            You can apply additional flag `--no-install-datasets` to skip dataset install.
 
             If this step fails, we recommend considering the [source installation](#__tabbed_1_3) method.
 
@@ -207,11 +207,11 @@ There are three ways to setup **`OmniGibson`**, all built upon different ways of
 
         4. Run the installation script to hook the environment up to Isaac Sim as well as **`OmniGibson`** dataset and assets:
 
-            ```{.shell .annotate} 
-            python -m omnigibson.install --launcher-install # (1)!
+            ```shell
+            python -m omnigibson.install --launcher-install
             ```
 
-            1. You can specify your Isaac Sim install location using the argument `--isaac-sim-path` if it differs from the default. You can also apply additional flag `--no-install-datasets` to skip dataset install.
+            You can specify your Isaac Sim install location using the argument `--isaac-sim-path` if it differs from the default. You can also apply additional flag `--no-install-datasets` to skip dataset install.
 
             !!! note "What does this do?"
 

omnigibson/__init__.py

@@ -28,7 +28,7 @@
 
 nest_asyncio.apply()
 
-__version__ = "1.1.0"
+__version__ = "1.1.1"
 
 root_path = os.path.dirname(os.path.realpath(__file__))
 

omnigibson/action_primitives/curobo.py

@@ -130,6 +130,7 @@ def __init__(
         self,
         robot,
         robot_cfg_path=None,
+        robot_usd_path=None,
         ee_link=None,
         device="cuda:0",
         motion_cfg_kwargs=None,
@@ -141,6 +142,8 @@ def __init__(
             robot (BaseRobot): Robot for which to generate motion plans
             robot_cfg_path (None or str): If specified, the path to the robot configuration to use. If None, will
                 try to use a pre-configured one directly from curobo based on the robot class of @robot
+            robot_usd_path (None or str): If specified, the path to the robot USD file to use. If None, will
+                try to use a pre-configured one directly from curobo based on the robot class of @robot
             ee_link (None or str): If specified, the link name representing the end-effector to track. None defaults to
                 value already set in the config from @robot_cfg
             device (str): Which device to use for curobo
@@ -156,11 +159,15 @@ def __init__(
         self._tensor_args = lazy.curobo.types.base.TensorDeviceType(device=th.device(device))
         self.debug = debug
 
-        # Load robot config and make sure paths point correctly
+        # Load robot config and usd paths and make sure paths point correctly
         robot_cfg_path = robot.curobo_path if robot_cfg_path is None else robot_cfg_path
-        robot_cfg = lazy.curobo.util_file.load_yaml(robot_cfg_path)["robot_cfg"]
-        robot_cfg["kinematics"]["external_asset_path"] = gm.ASSET_PATH
-        robot_cfg["kinematics"]["external_robot_configs_path"] = robot_cfg_path
+        robot_usd_path = robot.usd_path if robot_usd_path is None else robot_usd_path
+
+        content_path = lazy.curobo.types.file_path.ContentPath(
+            robot_config_absolute_path=robot_cfg_path, robot_usd_absolute_path=robot_usd_path
+        )
+        robot_cfg = lazy.curobo.cuda_robot_model.util.load_robot_yaml(content_path)["robot_cfg"]
+        robot_cfg["kinematics"]["use_usd_kinematics"] = True
 
         # Possibly update ee_link
         if ee_link is not None:
@@ -337,17 +344,17 @@ def compute_trajectories(
             finetune_attempts (int): Number of attempts to run finetuning trajectory optimization. Every attempt will
                 increase the `MotionGenPlanConfig.finetune_dt_scale` by `MotionGenPlanConfig.finetune_dt_decay` as a
                 path couldn't be found with the previous smaller dt
-            return_full_result (bool): Whether to return the full result or not. If False, will randomly sample a single
-                (successful) trajectory to return
+            return_full_result (bool): Whether to return a list of raw MotionGenResult object(s) or a 2-tuple of
+                (success, results); the default is the latter
             success_ratio (None or float): If set, specifies the fraction of successes necessary given self.batch_size.
                 If None, will automatically be the smallest ratio (1 / self.batch_size), i.e: any nonzero number of
                 successes
             attached_obj (None or BaseObject): If specified, the object to attach to the robot end-effector when
                 solving for this trajectory
 
         Returns:
-            2-tuple or list of MotionGenResult: If @return_all is set, will return the raw MotionGenResult
-                object(s) computed from internal batch trajectory computations. If not set, will return 2-tuple
+            2-tuple or list of MotionGenResult: If @return_full_result is True, will return a list of raw MotionGenResult
+                object(s) computed from internal batch trajectory computations. If it is False, will return 2-tuple
                 (success, results), where success is a (N,)-shaped boolean tensor representing whether each requested
                 target pos / quat successfully generated a motion plan, and results is a (N,)-shaped array of
                 corresponding JointState objects.