Merge branch 'fix/contact-checking' of https://github.com/StanfordVL/…

…OmniGibson into fix/contact-checking

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

@@ -77,6 +77,16 @@ jobs:
           tags: |
             type=ref,event=branch
             type=semver,pattern={{version}}
+      -
+        name: Metadata for dev Image
+        id: meta-dev
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            stanfordvl/omnigibson-dev
+          tags: |
+            type=ref,event=branch
+            type=semver,pattern={{version}}
       -
         name: Metadata for vscode Image
         id: meta-vscode
@@ -97,8 +107,22 @@ jobs:
           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=min
+          cache-from: type=registry,ref=stanfordvl/omnigibson:og-develop
+          cache-to: type=inline
+
+      -
+        name: Build and push dev image
+        id: build-dev
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          build-args: "DEV_MODE=1"
+          push: true
+          tags: ${{ steps.meta-dev.outputs.tags }}
+          labels: ${{ steps.meta-dev.outputs.labels }}
+          file: docker/prod.Dockerfile
+          cache-from: type=registry,ref=stanfordvl/omnigibson:og-develop  # OK to share cache here.
+          cache-to: type=inline
 
       - name: Update vscode image Dockerfile with prod image tag
         run: |
@@ -113,5 +137,5 @@ jobs:
           tags: ${{ steps.meta-vscode.outputs.tags }}
           labels: ${{ steps.meta-vscode.outputs.labels }}
           file: docker/vscode.Dockerfile
-          cache-from: type=gha
-          cache-to: type=gha,mode=min
+          cache-from: type=registry,ref=stanfordvl/omnigibson:og-develop  # OK to share cache here.
+          cache-to: type=inline

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

@@ -25,20 +25,10 @@ jobs:
         with:
           submodules: true
           path: omnigibson-src
-
-      # 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 .[dev]
 
       - name: Generate example tests
         working-directory: omnigibson-src
@@ -84,13 +74,9 @@ jobs:
           submodules: true
           path: omnigibson-src
 
-      - 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 .
+        run: pip install -e .[dev]
 
       - name: Run tests
         working-directory: omnigibson-src

.github/workflows/profiling.yml

@@ -32,19 +32,9 @@ jobs:
       - name: Checkout source
         uses: actions/checkout@v3
 
-      # 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 .[dev]
 
       - name: Run performance benchmark
         run: bash scripts/profiling.sh

.github/workflows/tests.yml

@@ -49,19 +49,9 @@ jobs:
           submodules: true
           path: omnigibson-src
 
-      # 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 .[dev]
 
       - name: Print env
         run: printenv

docker/build_docker.sh

@@ -7,6 +7,14 @@ docker build \
     -f docker/prod.Dockerfile \
     .
 
+# Pass the DEV_MODE=1 arg to the docker build command to build the development image
+docker build \
+    -t stanfordvl/omnigibson-dev:latest \
+    -t stanfordvl/omnigibson-dev:$(sed -ne "s/.*version= *['\"]\([^'\"]*\)['\"] *.*/\1/p" setup.py) \
+    -f docker/prod.Dockerfile \
+    --build-arg DEV_MODE=1 \
+    .
+
 docker build \
     -t stanfordvl/omnigibson-vscode:latest \
     -f docker/vscode.Dockerfile \

docker/gh-actions/Dockerfile

@@ -1,4 +1,4 @@
-FROM stanfordvl/omnigibson:og-develop
+FROM stanfordvl/omnigibson-dev:og-develop
 
 ARG DUMB_INIT_VERSION="1.2.2"
 ARG GIT_CORE_PPA_KEY="A1715D88E1DF1F24"
@@ -99,7 +99,7 @@ RUN echo en_US.UTF-8 UTF-8 >> /etc/locale.gen \
 ENV AGENT_TOOLSDIRECTORY=/opt/hostedtoolcache
 RUN mkdir -p /opt/hostedtoolcache
 
-ARG GH_RUNNER_VERSION="2.311.0"
+ARG GH_RUNNER_VERSION="2.320.0"
 
 ARG TARGETPLATFORM
 

docker/prod.Dockerfile

@@ -58,17 +58,28 @@ RUN micromamba run -n omnigibson /bin/bash --login -c 'source /isaac-sim/setup_c
 # Test OMPL
 RUN micromamba run -n omnigibson python -c "from ompl import base"
 
-# Add setup to be executed on bash launch
-RUN echo "OMNIGIBSON_NO_OMNIVERSE=1 python omnigibson/download_datasets.py" >> /root/.bashrc
-
 # Copy over omnigibson source
 ADD . /omnigibson-src
 WORKDIR /omnigibson-src
 
+# Set the shell
 SHELL ["micromamba", "run", "-n", "omnigibson", "/bin/bash", "--login", "-c"]
 
-# Install OmniGibson
-RUN micromamba run -n omnigibson pip install -e .
+# Optionally install OmniGibson (e.g. unless the DEV_MODE flag is set) or
+# remove the OmniGibson source code if we are in dev mode and change the workdir
+ARG DEV_MODE
+ENV DEV_MODE=${DEV_MODE}
+ARG WORKDIR_PATH=/omnigibson-src
+RUN if [ "$DEV_MODE" != "1" ]; then \
+      echo "OMNIGIBSON_NO_OMNIVERSE=1 python omnigibson/download_datasets.py" >> /root/.bashrc; \
+      micromamba run -n omnigibson pip install -e .[dev]; \
+    else \
+      WORKDIR_PATH=/; \
+      cd / && rm -rf /omnigibson-src; \
+    fi
+
+# Reset the WORKDIR based on whether or not we are in dev mode
+WORKDIR ${WORKDIR_PATH}
 
 ENTRYPOINT ["micromamba", "run", "-n", "omnigibson"]
 CMD ["/bin/bash"]

setup.py

@@ -24,31 +24,46 @@
         "gymnasium>=0.28.1",
         "numpy<2.0.0,>=1.23.5",
         "scipy>=1.10.1",
-        "GitPython~=3.1.40",
-        "transforms3d~=0.4.1",
-        "networkx~=3.2.1",
-        "PyYAML~=6.0.1",
-        "addict~=2.4.0",
-        "ipython~=8.20.0",
-        "future~=0.18.3",
-        "trimesh~=4.0.8",
-        "h5py~=3.10.0",
-        "cryptography~=41.0.7",
+        "GitPython>=3.1.40",
+        "transforms3d>=0.4.1",
+        "networkx>=3.2.1",
+        "PyYAML>=6.0.1",
+        "addict>=2.4.0",
+        "ipython>=8.20.0",
+        "future>=0.18.3",
+        "trimesh>=4.0.8",
+        "h5py>=3.10.0",
+        "cryptography>=41.0.7",
         "bddl~=3.5.0",
         "opencv-python>=4.8.1",
-        "nest_asyncio~=1.5.8",
-        "imageio~=2.33.1",
-        "imageio-ffmpeg~=0.4.9",
-        "termcolor~=2.4.0",
-        "progressbar~=2.5",
+        "nest_asyncio>=1.5.6",
+        "imageio>=2.33.1",
+        "imageio-ffmpeg>=0.4.9",
+        "termcolor>=2.4.0",
+        "progressbar>=2.5",
         "pymeshlab~=2022.2",
-        "click~=8.1.3",
-        "aenum~=3.1.15",
-        "rtree~=1.2.0",
-        "graphviz~=0.20",
+        "click>=8.1.3",
+        "aenum>=3.1.15",
+        "rtree>=1.2.0",
+        "graphviz>=0.20",
         "matplotlib>=3.0.0",
     ],
-    extras_require={},
+    extras_require={
+        "dev": [
+            "pytest>=6.2.3",
+            "pytest-cov>=3.0.0",
+            "pytest_rerunfailures",
+            "mkdocs",
+            "mkdocs-autorefs",
+            "mkdocs-gen-files",
+            "mkdocs-material",
+            "mkdocs-material-extensions",
+            "mkdocstrings[python]",
+            "mkdocs-section-index",
+            "mkdocs-literate-nav",
+            "telemoma~=0.1.2",
+        ]
+    },
     tests_require=[],
     python_requires=">=3",
     include_package_data=True,

tests/test_transform_utils.py

@@ -358,7 +358,7 @@ def test_quat_slerp(self):
             key_rots = R.from_quat(np.stack([q1.cpu().numpy(), q2.cpu().numpy()]))
             key_times = [0, 1]
             slerp = Slerp(key_times, key_rots)
-            scipy_q_slerp = slerp(t).as_quat()[0].astype(NumpyTypes.FLOAT32)
+            scipy_q_slerp = slerp([t.item()]).as_quat()[0].astype(NumpyTypes.FLOAT32)
 
             assert quaternions_close(q_slerp, th.from_numpy(scipy_q_slerp))
             assert_close(th.norm(q_slerp), th.tensor(1.0))

tests/test_transition_rules.py

@@ -466,7 +466,12 @@ def test_mixing_rule_failure_recipe_systems(env):
     assert lemonade.n_particles == 0
     assert sludge.n_particles == 0
 
-    tablespoon.set_position_orientation(position=[0.04, 0.0, 0.08], orientation=[0, 0, 0, 1])
+    # Move the tablespoon to touch the bowl
+    tablespoon.set_position_orientation(
+        position=[0.10, 0.0, 0.01], orientation=T.euler2quat(th.tensor([0.0, math.pi / 2, 0.0]))
+    )
+    tablespoon.keep_still()
+    tablespoon.set_linear_velocity(th.tensor([-1.0, 0.0, 0.0]))
     og.sim.step()
 
     assert tablespoon.states[Touching].get_value(bowl)
@@ -510,7 +515,12 @@ def test_mixing_rule_failure_nonrecipe_systems(env):
     assert lemonade.n_particles == 0
     assert sludge.n_particles == 0
 
-    tablespoon.set_position_orientation(position=[0.04, 0.0, 0.08], orientation=[0, 0, 0, 1])
+    # Move the tablespoon to touch the bowl
+    tablespoon.set_position_orientation(
+        position=[0.10, 0.0, 0.01], orientation=T.euler2quat(th.tensor([0.0, math.pi / 2, 0.0]))
+    )
+    tablespoon.keep_still()
+    tablespoon.set_linear_velocity(th.tensor([-1.0, 0.0, 0.0]))
     og.sim.step()
 
     assert tablespoon.states[Touching].get_value(bowl)
@@ -550,7 +560,12 @@ def test_mixing_rule_success(env):
 
     assert lemonade.n_particles == 0
 
-    tablespoon.set_position_orientation(position=[0.04, 0.0, 0.08], orientation=[0, 0, 0, 1])
+    # Move the tablespoon to touch the bowl
+    tablespoon.set_position_orientation(
+        position=[0.10, 0.0, 0.01], orientation=T.euler2quat(th.tensor([0.0, math.pi / 2, 0.0]))
+    )
+    tablespoon.keep_still()
+    tablespoon.set_linear_velocity(th.tensor([-1.0, 0.0, 0.0]))
     og.sim.step()
 
     assert tablespoon.states[Touching].get_value(bowl)