rename EXTERNAL_DATASET -> CUSTOM_DATASET

docs/tutorials/custom_robot_import.md

@@ -19,13 +19,13 @@ There are two ways to convert our raw robot URDF into an OmniGibson-compatible U
 Our custom robot importer [`import_custom_robot.py`](https://github.com/StanfordVL/OmniGibson/tree/main/omnigibson/examples/robots/import_custom_robot.py) wraps the native URDF Importer from Isaac Sim to convert our robot URDF model into USD format. Please see the following steps for running this script:
 
 1. All that is required is a single source config yaml file that dictates how the URDF should be post-processed when being converted into a USD. You can run `import_custom_robot.py --help` to see a detailed example configuration used, which is also shown below (`r1_pro_source_config.yaml`) for your convenience.
-2. All output files are written to `<gm.EXTERNAL_DATASET_PATH>/objects/robot/<name>`. Please move this directory to `<gm.ASSET_PATH>/objects/<name>` so it can be imported into **OmniGibson**.
+2. All output files are written to `<gm.CUSTOM_DATASET_PATH>/objects/robot/<name>`. Please move this directory to `<gm.ASSET_PATH>/objects/<name>` so it can be imported into **OmniGibson**.
 
 Some notes about the importing script:
 
 - The importing procedure can be summarized as follows:
 
-  1. Copy the raw URDF file + any dependencies into the `gm.EXTERNAL_DATASET_PATH` directory
+  1. Copy the raw URDF file + any dependencies into the `gm.CUSTOM_DATASET_PATH` directory
   2. Updates the URDF + meshes to ensure all scaling is positive
   3. Generates collision meshes for each robot link (as specified by the source config)
   4. Generates metadata necessary for **OmniGibson**

omnigibson/examples/objects/import_custom_object.py

@@ -62,7 +62,7 @@ def import_custom_object(
 ):
     """
     Imports an externally-defined object asset into an OmniGibson-compatible USD format and saves the imported asset
-    files to the external dataset directory (gm.EXTERNAL_DATASET_PATH)
+    files to the external dataset directory (gm.CUSTOM_DATASET_PATH)
     """
     assert len(model) == 6 and model.isalpha(), "Model name must be 6 characters long and contain only letters."
     collision_method = None if collision_method == "none" else collision_method

omnigibson/examples/robots/import_custom_robot.py

@@ -29,8 +29,8 @@
 
 
 _DOCSTRING = """
-Imports an externally-defined robot URDF asset into an OmniGibson-compatible USD format and saves the imported asset
-files to the external dataset directory (gm.EXTERNAL_DATASET_PATH)
+Imports an custom-defined robot URDF asset into an OmniGibson-compatible USD format and saves the imported asset
+files to the custom dataset directory (gm.CUSTOM_DATASET_PATH)
 
 Note that @config is expected to follow the following format (R1 config shown as an example):
 

omnigibson/macros.py

@@ -60,8 +60,8 @@ def determine_gm_path(default_path, env_var_name):
 # can override assets_path and dataset_path from environment variable
 gm.ASSET_PATH = determine_gm_path(os.path.join("data", "assets"), "OMNIGIBSON_ASSET_PATH")
 gm.DATASET_PATH = determine_gm_path(os.path.join("data", "og_dataset"), "OMNIGIBSON_DATASET_PATH")
-gm.EXTERNAL_DATASET_PATH = determine_gm_path(
-    os.path.join("data", "external_dataset"), "OMNIGIBSON_EXTERNAL_DATASET_PATH"
+gm.CUSTOM_DATASET_PATH = determine_gm_path(
+    os.path.join("data", "custom_dataset"), "OMNIGIBSON_CUSTOM_DATASET_PATH"
 )
 gm.KEY_PATH = determine_gm_path(os.path.join("data", "omnigibson.key"), "OMNIGIBSON_KEY_PATH")
 

omnigibson/objects/dataset_object.py

@@ -27,7 +27,7 @@
 
 class DatasetType(IntEnum):
     BEHAVIOR = 0
-    EXTERNAL = 1
+    CUSTOM = 1
 
 
 class DatasetObject(USDObject):
@@ -70,8 +70,8 @@ def __init__(
 
                 Otherwise, will randomly sample a model given @category
             dataset_type (DatasetType): Dataset to search for this object. Default is BEHAVIOR, corresponding to the
-                proprietary (encrypted) BEHAVIOR-1K dataset (gm.DATASET_PATH). Possible values are {BEHAVIOR, EXTERNAL}.
-                If EXTERNAL, assumes asset is found at gm.EXTERNAL_DATASET_PATH and additionally not encrypted.
+                proprietary (encrypted) BEHAVIOR-1K dataset (gm.DATASET_PATH). Possible values are {BEHAVIOR, CUSTOM}.
+                If CUSTOM, assumes asset is found at gm.CUSTOM_DATASET_PATH and additionally not encrypted.
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
                 for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a
                 3-array specifies per-axis scaling.
@@ -167,7 +167,7 @@ def get_usd_path(cls, category, model, dataset_type=DatasetType.BEHAVIOR):
         Returns:
             str: Absolute filepath to the corresponding USD asset file
         """
-        dataset_path = gm.DATASET_PATH if dataset_type == DatasetType.BEHAVIOR else gm.EXTERNAL_DATASET_PATH
+        dataset_path = gm.DATASET_PATH if dataset_type == DatasetType.BEHAVIOR else gm.CUSTOM_DATASET_PATH
         return os.path.join(dataset_path, "objects", category, model, "usd", f"{model}.usd")
 
     def sample_orientation(self):

omnigibson/utils/asset_conversion_utils.py

@@ -1128,7 +1128,7 @@ def import_obj_urdf(
     urdf_path,
     obj_category,
     obj_model,
-    dataset_root=gm.EXTERNAL_DATASET_PATH,
+    dataset_root=gm.CUSTOM_DATASET_PATH,
     use_omni_convex_decomp=False,
     use_usda=False,
     merge_fixed_joints=False,
@@ -2018,7 +2018,7 @@ def get_collision_approximation_for_urdf(
 
 
 def copy_urdf_to_dataset(
-    urdf_path, category, mdl, dataset_root=gm.EXTERNAL_DATASET_PATH, suffix="original", overwrite=False
+    urdf_path, category, mdl, dataset_root=gm.CUSTOM_DATASET_PATH, suffix="original", overwrite=False
 ):
     # Create a directory for the object
     obj_dir = pathlib.Path(dataset_root) / "objects" / category / mdl / "urdf"
@@ -2052,7 +2052,7 @@ def copy_urdf_to_dataset(
 
 
 def generate_urdf_for_obj(
-    visual_mesh, collision_meshes, category, mdl, dataset_root=gm.EXTERNAL_DATASET_PATH, overwrite=False
+    visual_mesh, collision_meshes, category, mdl, dataset_root=gm.CUSTOM_DATASET_PATH, overwrite=False
 ):
     # Create a directory for the object
     obj_dir = pathlib.Path(dataset_root) / "objects" / category / mdl
@@ -2286,7 +2286,7 @@ def import_og_asset_from_urdf(
     no_decompose_links=None,
     visual_only_links=None,
     merge_fixed_joints=False,
-    dataset_root=gm.EXTERNAL_DATASET_PATH,
+    dataset_root=gm.CUSTOM_DATASET_PATH,
     hull_count=32,
     overwrite=False,
     use_usda=False,