Code

External asset + robot import script#902

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cremebrule merged 75 commits intoog-developStanfordVL/OmniGibson:og-developfrom asset-conversionStanfordVL/OmniGibson:asset-conversionCopy head branch name to clipboardDec 12, 2024

+8,784-614

Commits

Commits on Sep 18, 2024

• Initial version of asset conversion utils

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• Scipy rotation to T

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• Update public API of asset utils

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• Documentation and cleanup

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Commits on Sep 23, 2024

• Start work on obj import

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• Some more work, including replacing print with log

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• New entrypoint

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• Add logger

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• Add logger

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• Some more fixes

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Commits on Sep 24, 2024

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• Merge branch 'og-develop' into asset-conversion

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• Add support for user-added datasetobject

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Commits on Sep 25, 2024

• Update asset_conversion_utils.py

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• Update asset_conversion_utils.py

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Commits on Sep 28, 2024

• Add scale

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Commits on Oct 1, 2024

• Merge branch 'og-develop' into asset-conversion

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Commits on Oct 10, 2024

• Merge branch 'og-develop' into asset-conversion

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Commits on Oct 11, 2024

• Support importing textures

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Commits on Nov 19, 2024

• Merge branch 'og-develop' into asset-conversion

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Commits on Nov 25, 2024

• add urdfy utils

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• update asset conversion utils for generalized asset imports

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• remove old asset import script

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• update utils to support usda imports

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• standardize object imports from external datasets

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• add updated import custom object example script

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• add import custom robot script (WIP)

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• Merge branch 'og-develop' into asset-conversion

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Commits on Nov 26, 2024

• Merge remote-tracking branch 'origin/asset-conversion' into asset-conversion

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Commits on Nov 27, 2024

• update for newest assets

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Commits on Dec 3, 2024

• add option to merge fixed joints, fix collision spheres logic, simplify generated convex hulls to be physx compatible

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• set friction to 0 by default when importing robots

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Commits on Dec 6, 2024

• enforce max 60 vertex constraint

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• verify that all material paths are relative instead of absolute for portability

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• Merge remote-tracking branch 'origin/asset-conversion' into asset-conversion

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Commits on Dec 10, 2024

• update all robot classes for refactored assets

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• handle edge cases when importing custom robots

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• remove todos

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• Merge remote-tracking branch 'origin/asset-conversion' into asset-conversion

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• update example config

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• update custom robot import tutorial

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• Merge branch 'og-develop' into asset-conversion

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• remove lula FK solver from curobo, fix typo in curobo test

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Commits on Dec 11, 2024

• fix bugs in curobo config generator during custom robot import

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• update default pose for R1 Pro model in curobo test

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• tune object states test for new fetch asset

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• Merge branch 'og-develop' into asset-conversion

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Commits on Dec 12, 2024

• fix grasping state inference for gripper controller

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• add attribution

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• update sensor ground truth for new fetch robot test

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• do not 0 friction during URDF->USD import process, update docs

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• Merge remote-tracking branch 'origin/asset-conversion' into asset-conversion

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• fix bugs in FOV robot object state

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• prune utils, update docs, update package deps version

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• update docs

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• fix freight and locobot offsets

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• update curobo dep version

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• fix curobo naming convention

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• modify scene graph for updated robots

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• ensure pillow compatibility with isaac pip prebundle

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• add low pass filter for multi finger gripper to reduce velocity noise during grasp state inference

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• align prim getter with inputted stage

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• rename EXTERNAL_DATASET -> CUSTOM_DATASET

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