Merge branch 'og-develop' into action-primitives

omnigibson/configs/fetch_behavior.yaml

@@ -33,6 +33,15 @@ robots:
     default_trunk_offset: 0.365
     default_arm_pose: diagonal30
     reset_joint_pos: tuck
+    sensor_config:
+      VisionSensor:
+        sensor_kwargs:
+          image_height: 128
+          image_width: 128
+      ScanSensor:
+          sensor_kwargs:
+            min_range: 0.05
+            max_range: 10.0
     controller_config:
       base:
         name: DifferentialDriveController

omnigibson/configs/robots/fetch.yaml

@@ -19,6 +19,15 @@ robot:
   rigid_trunk: false
   default_trunk_offset: 0.365
   default_arm_pose: vertical
+  sensor_config:
+    VisionSensor:
+      sensor_kwargs:
+        image_height: 128
+        image_width: 128
+    ScanSensor:
+        sensor_kwargs:
+          min_range: 0.05
+          max_range: 10.0
   controller_config:
     base:
       name: DifferentialDriveController

omnigibson/configs/robots/freight.yaml

@@ -10,6 +10,15 @@ robot:
   base_name: null
   scale: 1.0
   self_collision: false
+  sensor_config:
+    VisionSensor:
+      sensor_kwargs:
+        image_height: 128
+        image_width: 128
+    ScanSensor:
+        sensor_kwargs:
+          min_range: 0.05
+          max_range: 10.0
   controller_config:
     base:
       name: DifferentialDriveController

omnigibson/configs/robots/husky.yaml

@@ -10,6 +10,15 @@ robot:
   base_name: null
   scale: 1.0
   self_collision: false
+  sensor_config:
+    VisionSensor:
+      sensor_kwargs:
+        image_height: 128
+        image_width: 128
+    ScanSensor:
+        sensor_kwargs:
+          min_range: 0.05
+          max_range: 10.0
   controller_config:
     base:
       name: JointController

omnigibson/configs/robots/locobot.yaml

@@ -10,6 +10,15 @@ robot:
   base_name: null
   scale: 1.0
   self_collision: false
+  sensor_config:
+    VisionSensor:
+      sensor_kwargs:
+        image_height: 128
+        image_width: 128
+    ScanSensor:
+        sensor_kwargs:
+          min_range: 0.05
+          max_range: 10.0
   controller_config:
     base:
       name: DifferentialDriveController

omnigibson/configs/robots/turtlebot.yaml

@@ -10,6 +10,15 @@ robot:
   base_name: null
   scale: 1.0
   self_collision: false
+  sensor_config:
+    VisionSensor:
+      sensor_kwargs:
+        image_height: 128
+        image_width: 128
+    ScanSensor:
+        sensor_kwargs:
+          min_range: 0.05
+          max_range: 10.0
   controller_config:
     base:
       name: DifferentialDriveController

omnigibson/configs/sensors/scan.yaml

@@ -0,0 +1,30 @@
+# Example ScanSensor sensor config
+# See omnigibson/sensors/__init__/create_sensor and omnigibson/sensors/scan_sensor for docstring of arguments
+# Arguments below are the arguments that should be specified by external user (other kwargs
+# used in constructor are generated automatically at runtime)
+robot:
+  sensor_config:
+    ScanSensor:
+      modalities: [scan, occupancy_grid]  # if specified, this will override the values in robots_config["obs_modalities"]
+      enabled: true
+      noise_type: null
+      noise_kwargs: null
+      sensor_kwargs:
+
+        # Basic LIDAR kwargs
+        min_range: 0.05
+        max_range: 10.0
+        horizontal_fov: 360.0
+        vertical_fov: 1.0
+        yaw_offset: 0.0
+        horizontal_resolution: 1.0
+        vertical_resolution: 1.0
+        rotation_rate: 0.0
+        draw_points: false
+        draw_lines: false
+
+        # Occupancy Grid kwargs
+        occupancy_grid_resolution: 128
+        occupancy_grid_range: 5.0
+        occupancy_grid_inner_radius: 0.5
+        occupancy_grid_local_link: null

omnigibson/configs/sensors/vision.yaml

@@ -0,0 +1,14 @@
+# Example VisionSensor sensor config
+# See omnigibson/sensors/__init__/create_sensor and omnigibson/sensors/vision_sensor for docstring of arguments
+# Arguments below are the arguments that should be specified by external user (other kwargs
+# used in constructor are generated automatically at runtime)
+robot:
+  sensor_config:
+    VisionSensor:
+      modalities: [rgb, depth]  # if specified, this will override the values in robots_config["obs_modalities"]
+      enabled: true
+      noise_type: null
+      noise_kwargs: null
+      sensor_kwargs:
+        image_height: 128
+        image_width: 128

omnigibson/configs/turtlebot_nav.yaml

@@ -29,6 +29,15 @@ robots:
     self_collision: false
     action_normalize: true
     action_type: continuous
+    sensor_config:
+      VisionSensor:
+        sensor_kwargs:
+          image_height: 128
+          image_width: 128
+      ScanSensor:
+          sensor_kwargs:
+            min_range: 0.05
+            max_range: 10.0
     controller_config:
       base:
         name: DifferentialDriveController

omnigibson/robots/fetch.py

@@ -56,6 +56,7 @@ def __init__(
         # Unique to BaseRobot
         obs_modalities="all",
         proprio_obs="default",
+        sensor_config=None,
 
         # Unique to ManipulationRobot
         grasping_mode="physical",
@@ -99,10 +100,14 @@ def __init__(
             obs_modalities (str or list of str): Observation modalities to use for this robot. Default is "all", which
                 corresponds to all modalities being used.
                 Otherwise, valid options should be part of omnigibson.sensors.ALL_SENSOR_MODALITIES.
+                Note: If @sensor_config explicitly specifies `modalities` for a given sensor class, it will
+                    override any values specified from @obs_modalities!
             proprio_obs (str or list of str): proprioception observation key(s) to use for generating proprioceptive
                 observations. If str, should be exactly "default" -- this results in the default proprioception
                 observations being used, as defined by self.default_proprio_obs. See self._get_proprioception_dict
                 for valid key choices
+            sensor_config (None or dict): nested dictionary mapping sensor class name(s) to specific sensor
+                configurations for this object. This will override any default values specified by this class.
             grasping_mode (str): One of {"physical", "assisted", "sticky"}.
                 If "physical", no assistive grasping will be applied (relies on contact friction + finger force).
                 If "assisted", will magnetize any object touching and within the gripper's fingers.
@@ -149,6 +154,7 @@ def __init__(
             reset_joint_pos=reset_joint_pos,
             obs_modalities=obs_modalities,
             proprio_obs=proprio_obs,
+            sensor_config=sensor_config,
             grasping_mode=grasping_mode,
             **kwargs,
         )

omnigibson/robots/manipulation_robot.py

@@ -109,6 +109,7 @@ def __init__(
         # Unique to BaseRobot
         obs_modalities="all",
         proprio_obs="default",
+        sensor_config=None,
 
         # Unique to ManipulationRobot
         grasping_mode="physical",
@@ -149,10 +150,14 @@ def __init__(
             obs_modalities (str or list of str): Observation modalities to use for this robot. Default is "all", which
                 corresponds to all modalities being used.
                 Otherwise, valid options should be part of omnigibson.sensors.ALL_SENSOR_MODALITIES.
+                Note: If @sensor_config explicitly specifies `modalities` for a given sensor class, it will
+                    override any values specified from @obs_modalities!
             proprio_obs (str or list of str): proprioception observation key(s) to use for generating proprioceptive
                 observations. If str, should be exactly "default" -- this results in the default proprioception
                 observations being used, as defined by self.default_proprio_obs. See self._get_proprioception_dict
                 for valid key choices
+            sensor_config (None or dict): nested dictionary mapping sensor class name(s) to specific sensor
+                configurations for this object. This will override any default values specified by this class.
             grasping_mode (str): One of {"physical", "assisted", "sticky"}.
                 If "physical", no assistive grasping will be applied (relies on contact friction + finger force).
                 If "assisted", will magnetize any object touching and within the gripper's fingers.
@@ -200,6 +205,7 @@ def __init__(
             reset_joint_pos=reset_joint_pos,
             obs_modalities=obs_modalities,
             proprio_obs=proprio_obs,
+            sensor_config=sensor_config,
             **kwargs,
         )