From 4c9d1e1ce81b761fe43f3e1e06e311d5a73bc699 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Tue, 24 Sep 2024 17:28:56 -0700 Subject: [PATCH 01/55] Upgrade to isaac sim 4.2 --- omnigibson/omnigibson_4_2_0.kit | 366 ++++++++++++++++++++++++++++++++ setup.py | 2 +- 2 files changed, 367 insertions(+), 1 deletion(-) create mode 100644 omnigibson/omnigibson_4_2_0.kit diff --git a/omnigibson/omnigibson_4_2_0.kit b/omnigibson/omnigibson_4_2_0.kit new file mode 100644 index 000000000..5b83ebb53 --- /dev/null +++ b/omnigibson/omnigibson_4_2_0.kit @@ -0,0 +1,366 @@ +[package] +title = "OmniGibson" +description = "A platform for accelerating Embodied AI research" +version = "4.2.0" + +# That makes it browsable in UI with "experience" filter +keywords = ["experience", "app", "usd"] + +[dependencies] +# Isaac Sim extensions +"omni.isaac.cloner" = {} +"omni.isaac.core" = {} +## "omni.isaac.core_archive" = {} +"omni.isaac.core_nodes" = {} +"omni.isaac.cortex" = {} +"omni.isaac.cortex.sample_behaviors" = {} +"omni.isaac.debug_draw" = {} +"omni.isaac.dynamic_control" = {} +"omni.isaac.franka" = {} +"omni.isaac.kit" = {} +"omni.isaac.lula" = {} +"omni.isaac.manipulators" = {} +## "omni.isaac.ml_archive" = {} +"omni.isaac.motion_generation" = {} +"omni.isaac.menu" = {} +"omni.isaac.nucleus" = {} +"omni.isaac.occupancy_map" = {} +"omni.isaac.quadruped" = {} +"omni.isaac.range_sensor" = {} +"omni.isaac.scene_blox" = {} +"omni.isaac.sensor" = {} +"omni.isaac.surface_gripper" = {} +"omni.isaac.universal_robots" = {} +"omni.isaac.utils" = {} +"omni.isaac.wheeled_robots" = {} +## "omni.kit.property.isaac" = {} +## "omni.pip.cloud" = {} +## "omni.pip.compute" = {} +"omni.replicator.isaac" = {} + +# Kit extensions +#"omni.activity.profiler" = {} +#"omni.activity.pump" = {} +"omni.anim.graph.schema" = {} +"omni.anim.navigation.schema" = {} +"omni.usd.schema.omniscripting" = {} +"omni.graph.bundle.action" = {} +"omni.graph.visualization.nodes" = {} +"omni.graph.window.action" = {} +"omni.graph.window.generic" = {} +"omni.hydra.engine.stats" = {} +"omni.importer.mjcf" = {} +"omni.importer.urdf" = {} +"omni.kit.collaboration.channel_manager" = {} +"omni.kit.context_menu" = {} +"omni.kit.hotkeys.window" = {} +"omni.kit.loop-isaac" = {} +"omni.kit.manipulator.prim" = {} +"omni.kit.manipulator.transform" = {} +"omni.kit.menu.common" = {} +"omni.kit.menu.create" = {} +"omni.kit.menu.edit" = {} +"omni.kit.menu.file" = {} +"omni.kit.menu.stage" = {} +"omni.kit.menu.utils" = {} +"omni.kit.primitive.mesh" = {} +"omni.kit.profiler.window" = {} +"omni.kit.property.bundle" = {} +"omni.kit.property.layer" = {} +"omni.kit.renderer.core" = {} +"omni.kit.selection" = {} +"omni.kit.stage_column.payload" = {} +"omni.kit.stage_column.variant" = {} +"omni.kit.stage_templates" = {} +"omni.kit.telemetry" = {} +"omni.kit.uiapp" = {} +"omni.kit.viewport.bundle" = {} +"omni.kit.viewport.menubar.lighting" = {} +# "omni.kit.viewport.ready" = {} +"omni.kit.viewport.rtx" = {} +"omni.kit.widget.cache_indicator" = {} +"omni.kit.widget.extended_searchfield" = {} +"omni.kit.widget.filebrowser" = {} +"omni.kit.widget.layers" = {} +"omni.kit.widget.live" = {} +"omni.kit.widget.timeline" = {} +"omni.kit.window.commands" = {} +"omni.kit.window.console" = {} +"omni.kit.window.content_browser" = {} +"omni.kit.window.cursor" = {} +"omni.kit.window.extensions" = {} +"omni.kit.window.file" = {} +"omni.kit.window.filepicker" = {} +"omni.kit.window.property" = {} +"omni.kit.window.script_editor" = {} +"omni.kit.window.stage" = {} +"omni.kit.window.stats" = {order = 1000} +"omni.kit.window.status_bar" = {} +"omni.kit.window.title" = {} +"omni.kit.window.toolbar" = {} +"omni.physx.bundle" = {} +# "omni.physx.fabric" = {} +"omni.physx.tensors" = {} +"omni.replicator.core" = {} +"omni.replicator.replicator_yaml" = {} +"omni.resourcemonitor" = {} +"omni.rtx.settings.core" = {} +"omni.stats" = {} +"omni.syntheticdata" = {} +"omni.usd.schema.scene.visualization" = {} +"omni.warp" = {} +"semantics.schema.editor" = {} +"semantics.schema.property" = {} + +[settings] +renderer.active = "rtx" +exts."omni.kit.viewport.menubar.camera".expand = true # Expand the extra-camera settings by default +exts."omni.kit.window.file".useNewFilePicker = true +exts."omni.kit.tool.asset_importer".useNewFilePicker = true +exts."omni.kit.tool.collect".useNewFilePicker = true +exts."omni.kit.widget.layers".useNewFilePicker = true +exts."omni.kit.renderer.core".imgui.enableMips = true +exts."omni.kit.widget.cloud_share".require_access_code = false +exts."omni.kit.pipapi".installCheckIgnoreVersion = true +exts."omni.kit.viewport.window".startup.windowName="Viewport" # Rename from Viewport Next +exts."omni.kit.menu.utils".logDeprecated = false + +# app.content.emptyStageOnStart = false +app.file.ignoreUnsavedOnExit = true # prevents save dialog when exiting + +# deprecate support for old kit.ui.menu +app.menu.legacy_mode = false +# use omni.ui.Menu for the MenuBar +app.menu.compatibility_mode = false +# Setting the port for the embedded http server +exts."omni.services.transport.server.http".port = 8211 + +# default viewport is fill +app.runLoops.rendering_0.fillResolution = false + +exts."omni.kit.test".includeTests = [ "*isaac*" ] + + +[settings.app.python] +# These disable the kit app from also printing out python output, which gets confusing +interceptSysStdOutput = false +logSysStdOutput = false + +[settings.app.settings] +persistent = false +dev_build = false +fabricDefaultStageFrameHistoryCount = 3 # needed for omni.syntheticdata TODO105 Still True? + +[settings.app.window] +title = "OmniGibson" +hideUi = false +_iconSize = 256 +iconPath = "${omni.isaac.kit}/data/omni.isaac.sim.png" + +# width = 1700 +# height = 900 +# x = -1 +# y = -1 + +# Fonts +[setting.app.font] +file = "${fonts}/OpenSans-SemiBold.ttf" +size = 16 + +# [setting.app.runLoops] +# main.rateLimitEnabled = false +# main.rateLimitFrequency = 60 +# main.rateLimitUseBusyLoop = false +# rendering_0.rateLimitEnabled = false + +[settings.exts.'omni.kit.window.extensions'] +# List extensions here we want to show as featured when extension manager is opened +featuredExts = [] + + +[settings] +# MGPU is always on, you can turn it from the settings, and force this off to save even more resource if you +# only want to use a single GPU on your MGPU system +renderer.multiGpu.enabled = true +renderer.multiGpu.autoEnable = true +# This setting forces all GPUs to copy their render results to the main GPU. +# This legacy setting should not be needed anymore +app.gatherRenderResults = false +'rtx-transient'.resourcemanager.enableTextureStreaming = true +# app.hydra.aperture.conform = 4 # in 105.1 pixels are square by default +app.hydraEngine.waitIdle = false +rtx.newDenoiser.enabled = true + +# Enable Iray and pxr by setting this to "rtx,iray,pxr" +renderer.enabled = "rtx" + +physics.autoPopupSimulationOutputWindow=false + +### async rendering settings +omni.replicator.asyncRendering = false +app.asyncRendering = false +app.asyncRenderingLowLatency = false + +### Render thread settings +app.runLoops.main.rateLimitEnabled = false +app.runLoops.main.rateLimitFrequency = 120 +app.runLoops.main.rateLimitUsePrecisionSleep = true +app.runLoops.main.syncToPresent = false +app.runLoops.present.rateLimitFrequency = 60 +app.runLoops.present.rateLimitUsePrecisionSleep = true +app.runLoops.rendering_0.rateLimitFrequency = 120 +app.runLoops.rendering_0.rateLimitUsePrecisionSleep = true +app.runLoops.rendering_0.syncToPresent = false +app.runLoops.rendering_1.rateLimitFrequency = 120 +app.runLoops.rendering_1.rateLimitUsePrecisionSleep = true +app.runLoops.rendering_1.syncToPresent = false +app.runLoopsGlobal.syncToPresent = false +app.vsync = false +exts."omni.kit.renderer.core".present.enabled = false +exts."omni.kit.renderer.core".present.presentAfterRendering = false +persistent.app.viewport.defaults.tickRate = 120 +rtx-transient.dlssg.enabled = false + +app.audio.enabled = false + +privacy.externalBuild = true + +# Enable Vulkan +app.vulkan = true + +# Basic Kit App +################################ +app.versionFile = "${app}/../VERSION" +app.name = "Isaac-Sim" +app.version = "4.2.0" + +# hide NonToggleable Exts +exts."omni.kit.window.extensions".hideNonToggleableExts = true +exts."omni.kit.window.extensions".showFeatureOnly = false + +# Hang Detector +################################ +# app.hangDetector.enabled = false +# app.hangDetector.timeout = 120 + +# RTX Settings +############################### +[settings.rtx] +translucency.worldEps = 0.005 + +# Content Browser +############################### +[settings.exts."omni.kit.window.content_browser"] +enable_thumbnail_generation_images = false # temp fix to avoid leaking python processes + +# Extensions +############################### +[settings.exts."omni.kit.registry.nucleus"] +registries = [ + { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" }, + { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" }, + { name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" }, +] + +[settings.app.extensions] +skipPublishVerification = false +registryEnabled = true + +[settings.exts."omni.kit.window.modifier.titlebar"] +titleFormatString = " Isaac Sim {version:${app}/../SHORT_VERSION,font_color=0x909090,font_size=16} {separator} {file, board=true}" +showFileFullPath = true +icon.file = "${app}/../exts/omni.isaac.app.setup/data/nvidia-omniverse-isaacsim.ico" +icon.size = 256 +defaultFont.name = "Arial" +defaultFont.size = 16 +defaultFont.color = 0xD0D0D0 +separator.color = 0x00B976 +separator.width = 1 +windowBorder.color = 0x0F0F0F +windowBorder.width = 2 +colors.caption = 0x0F0F0F +colors.client = 0x0F0F0F +respondOnMouseUp = true +changeWindowRegion = true + + +# Register extension folder from this repo in kit +[settings.app.exts] +folders = ["${app}/../exts", "${app}/../extscache", "${app}/../extsPhysics", "${app}/../extsUser"] + +[settings.crashreporter.data] +experience = "Isaac Sim Python" + +# Isaac Sim Settings +############################### +[settings.app.renderer] +skipWhileMinimized = false +sleepMsOnFocus = 0 +sleepMsOutOfFocus = 0 +resolution.width=1280 +resolution.height=720 + +[settings.app.livestream] +proto = "ws" +allowResize = true +outDirectory = "${data}" + +# default camera position in meters +[settings.app.viewport] +defaultCamPos.x = 5 +defaultCamPos.y = 5 +defaultCamPos.z = 5 + +[settings.rtx] +raytracing.fractionalCutoutOpacity = false +hydra.enableSemanticSchema = true +mdltranslator.mdlDistilling = false +# descriptorSets=60000 +# reservedDescriptors=500000 +# sceneDb.maxInstances=1000000 +# Enable this for static scenes, improves visual quality +# directLighting.sampledLighting.enabled = true + +[settings.persistent] +app.file.recentFiles = [] +app.stage.upAxis = "Z" +app.stage.timeCodeRange = [0, 1000000] +app.stage.movePrimInPlace = false +app.stage.instanceableOnCreatingReference = false +app.stage.materialStrength = "weakerThanDescendants" + +app.transform.gizmoUseSRT = true +app.viewport.grid.scale = 1.0 +app.viewport.pickingMode = "kind:model.ALL" +app.viewport.camMoveVelocity = 0.05 # 5 m/s +app.viewport.gizmo.scale = 0.01 # scaled to meters +app.viewport.previewOnPeek = false +app.viewport.snapToSurface = false +app.viewport.displayOptions = 31887 # Disable Frame Rate and Resolution by default +app.window.uiStyle = "NvidiaDark" +app.primCreation.DefaultXformOpType = "Scale, Orient, Translate" +app.primCreation.DefaultXformOpOrder="xformOp:translate, xformOp:orient, xformOp:scale" +app.primCreation.typedDefaults.camera.clippingRange = [0.01, 10000000.0] +simulation.minFrameRate = 15 +simulation.defaultMetersPerUnit = 1.0 +omnigraph.updateToUsd = false +omnigraph.useSchemaPrims = true +omnigraph.disablePrimNodes = true +physics.updateToUsd = true +physics.updateVelocitiesToUsd = true +physics.useFastCache = false +physics.visualizationDisplayJoints = false +physics.visualizationSimulationOutput = false +omni.replicator.captureOnPlay = true +exts."omni.anim.navigation.core".navMesh.viewNavMesh = false +exts."omni.anim.navigation.core".navMesh.config.autoRebakeOnChanges = false +resourcemonitor.timeBetweenQueries = 100 + +renderer.startupMessageDisplayed = true # hides the IOMMU popup window + +# Make Detail panel visible by default +app.omniverse.content_browser.options_menu.show_details = true +app.omniverse.filepicker.options_menu.show_details = true + +[settings.ngx] +enabled=true # Enable this for DLSS diff --git a/setup.py b/setup.py index 38e7148e2..1bc2d1e39 100644 --- a/setup.py +++ b/setup.py @@ -49,7 +49,7 @@ "numba>=0.60.0", ], extras_require={ - "isaac": ["isaacsim-for-omnigibson>=4.1.0"], + "isaac": ["isaacsim-for-omnigibson>=4.2.0"], }, tests_require=[], python_requires=">=3", From 13fe889109128fea8502e0c125cc9a21c5bd51f1 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Wed, 25 Sep 2024 13:22:47 -0700 Subject: [PATCH 02/55] Add version 4.2 to KIT_FILES --- omnigibson/simulator.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py index 71a7d0cad..036937e37 100644 --- a/omnigibson/simulator.py +++ b/omnigibson/simulator.py @@ -72,7 +72,7 @@ m.KIT_FILES = { (4, 0, 0): "omnigibson_4_0_0.kit", (4, 1, 0): "omnigibson_4_1_0.kit", - (2023, 1, 1): "omnigibson_2023_1_1.kit", + (4, 2, 0): "omnigibson_4_2_0.kit", } From 5cddc03232d8a2ecd10eaf29404440066b3ca30f Mon Sep 17 00:00:00 2001 From: hang-yin Date: Mon, 7 Oct 2024 11:09:41 -0700 Subject: [PATCH 03/55] Fix ObjectsInFOVOfRobot test --- tests/test_robot_states_no_flatcache.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/test_robot_states_no_flatcache.py b/tests/test_robot_states_no_flatcache.py index 3461f62e7..66ff39f35 100644 --- a/tests/test_robot_states_no_flatcache.py +++ b/tests/test_robot_states_no_flatcache.py @@ -40,5 +40,5 @@ def test_object_in_FOV_of_robot(): vision_sensor.set_position_orientation(position=[100, 150, 100]) og.sim.step() og.sim.step() - assert robot.states[ObjectsInFOVOfRobot].get_value() == [robot] + assert robot.states[ObjectsInFOVOfRobot].get_value() == [] og.clear() From 14051b2294c849baeb3382a93557fdd2066cf46b Mon Sep 17 00:00:00 2001 From: hang-yin Date: Mon, 7 Oct 2024 11:17:49 -0700 Subject: [PATCH 04/55] Isaac 4 2 update --- omnigibson/install.py | 54 ++++++++++++++++++++--------------------- omnigibson/simulator.py | 1 - 2 files changed, 27 insertions(+), 28 deletions(-) diff --git a/omnigibson/install.py b/omnigibson/install.py index eec12a267..8156fe80b 100644 --- a/omnigibson/install.py +++ b/omnigibson/install.py @@ -14,32 +14,32 @@ # List of NVIDIA PyPI packages needed for OmniGibson ISAAC_SIM_PACKAGES = [ - "omniverse_kit-106.0.1.126909", - "isaacsim_kernel-4.1.0.0", - "isaacsim_app-4.1.0.0", - "isaacsim_core-4.1.0.0", - "isaacsim_gui-4.1.0.0", - "isaacsim_utils-4.1.0.0", - "isaacsim_storage-4.1.0.0", - "isaacsim_asset-4.1.0.0", - "isaacsim_sensor-4.1.0.0", - "isaacsim_robot_motion-4.1.0.0", - "isaacsim_robot-4.1.0.0", - "isaacsim_benchmark-4.1.0.0", - "isaacsim_code_editor-4.1.0.0", - "isaacsim_ros1-4.1.0.0", - "isaacsim_cortex-4.1.0.0", - "isaacsim_example-4.1.0.0", - "isaacsim_replicator-4.1.0.0", - "isaacsim_rl-4.1.0.0", - "isaacsim_robot_setup-4.1.0.0", - "isaacsim_ros2-4.1.0.0", - "isaacsim_template-4.1.0.0", - "isaacsim_test-4.1.0.0", - "isaacsim-4.1.0.0", - "isaacsim_extscache_physics-4.1.0.0", - "isaacsim_extscache_kit-4.1.0.0", - "isaacsim_extscache_kit_sdk-4.1.0.0", + "omniverse_kit-106.1.0.140981", + "isaacsim_kernel-4.2.0.2", + "isaacsim_app-4.2.0.2", + "isaacsim_core-4.2.0.2", + "isaacsim_gui-4.2.0.2", + "isaacsim_utils-4.2.0.2", + "isaacsim_storage-4.2.0.2", + "isaacsim_asset-4.2.0.2", + "isaacsim_sensor-4.2.0.2", + "isaacsim_robot_motion-4.2.0.2", + "isaacsim_robot-4.2.0.2", + "isaacsim_benchmark-4.2.0.2", + "isaacsim_code_editor-4.2.0.2", + "isaacsim_ros1-4.2.0.2", + "isaacsim_cortex-4.2.0.2", + "isaacsim_example-4.2.0.2", + "isaacsim_replicator-4.2.0.2", + "isaacsim_rl-4.2.0.2", + "isaacsim_robot_setup-4.2.0.2", + "isaacsim_ros2-4.2.0.2", + "isaacsim_template-4.2.0.2", + "isaacsim_test-4.2.0.2", + "isaacsim-4.2.0.2", + "isaacsim_extscache_physics-4.2.0.2", + "isaacsim_extscache_kit-4.2.0.2", + "isaacsim_extscache_kit_sdk-4.2.0.2", ] BASE_URL = "https://pypi.nvidia.com" @@ -216,7 +216,7 @@ def _launcher_based_install(isaac_sim_path: Optional[Path]): isaac_version_str = version_content.split("-")[0] isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3])) - if isaac_version_tuple not in ((4, 0, 0), (4, 1, 0)): + if isaac_version_tuple not in ((4, 0, 0), (4, 1, 0), (4, 2, 0)): click.echo(f"Isaac Sim version {isaac_version_str} is not supported by OmniGibson.") return False diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py index a20a436ac..0bbb81023 100644 --- a/omnigibson/simulator.py +++ b/omnigibson/simulator.py @@ -158,7 +158,6 @@ def _launch_app(): # Enable additional extensions we need lazy.omni.isaac.core.utils.extensions.enable_extension("omni.flowusd") - lazy.omni.isaac.core.utils.extensions.enable_extension("omni.particle.system.bundle") # Additional import for windows if os.name == "nt": From c303a0be6c74c0f80e5f60837678648946f3f624 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Mon, 7 Oct 2024 11:18:20 -0700 Subject: [PATCH 05/55] Deprecate projection emitter --- omnigibson/object_states/particle_modifier.py | 88 +----------------- omnigibson/utils/deprecated_utils.py | 92 ------------------- 2 files changed, 2 insertions(+), 178 deletions(-) diff --git a/omnigibson/object_states/particle_modifier.py b/omnigibson/object_states/particle_modifier.py index a7f655eab..f1342548d 100644 --- a/omnigibson/object_states/particle_modifier.py +++ b/omnigibson/object_states/particle_modifier.py @@ -1012,7 +1012,6 @@ def __init__( self.projection_system = None self.projection_system_prim = None - self.projection_emitter = None # Run super super().__init__(obj=obj, method=method, conditions=conditions, projection_mesh_params=projection_mesh_params) @@ -1026,79 +1025,6 @@ def _initialize(self): # This will initialize the system if it's not initialized already. system = self.obj.scene.get_system(system_name) - if self.visualize: - assert self._projection_mesh_params["type"] in { - "Cylinder", - "Cone", - }, f"{self.__class__.__name__} visualization only supports Cylinder and Cone types!" - radius, height = ( - th.mean(self._projection_mesh_params["extents"][:2]) / 2.0, - self._projection_mesh_params["extents"][2], - ) - # Generate the projection visualization - particle_radius = ( - m.VISUAL_PARTICLE_PROJECTION_PARTICLE_RADIUS - if self.obj.scene.is_visual_particle_system(system_name=system.name) - else system.particle_radius - ) - - name_prefix = f"{self.obj.name}_{self.__class__.__name__}" - # Create the projection visualization if it doesn't already exist, otherwise we reference it directly - projection_name = f"{name_prefix}_projection_visualization" - projection_path = f"/OmniGraph/{projection_name}" - projection_visualization_path = f"{self.link.prim_path}/projection_visualization" - if lazy.omni.isaac.core.utils.prims.is_prim_path_valid(projection_path): - self.projection_system = lazy.omni.isaac.core.utils.prims.get_prim_at_path(projection_path) - self.projection_emitter = lazy.omni.isaac.core.utils.prims.get_prim_at_path( - f"{projection_path}/emitter" - ) - else: - self.projection_system, self.projection_emitter = create_projection_visualization( - scene=self.obj.scene, - prim_path=projection_visualization_path, - shape=self._projection_mesh_params["type"], - projection_name=projection_name, - projection_radius=radius, - projection_height=height, - particle_radius=particle_radius, - parent_scale=self.link.scale, - material=system.material, - ) - relative_projection_system_path = absolute_prim_path_to_scene_relative( - self.obj.scene, self.projection_system.GetPrimPath().pathString - ) - self.projection_system_prim = BasePrim( - relative_prim_path=relative_projection_system_path, name=projection_name - ) - self.projection_system_prim.load(self.obj.scene) - - # Create the visual geom instance referencing the generated source mesh prim, and then hide it - relative_projection_source_path = absolute_prim_path_to_scene_relative( - self.obj.scene, projection_visualization_path - ) - self.projection_source_sphere = VisualGeomPrim( - relative_prim_path=relative_projection_source_path, name=f"{name_prefix}_projection_source_sphere" - ) - self.projection_source_sphere.load(self.obj.scene) - self.projection_source_sphere.initialize() - self.projection_source_sphere.visible = False - # Rotate by 90 degrees in y-axis so that the projection visualization aligns with the projection mesh - self.projection_source_sphere.set_position_orientation( - orientation=T.euler2quat(th.tensor([0, math.pi / 2, 0], dtype=th.float32)), frame="parent" - ) - - # Make sure the meta mesh is aligned with the meta link if visualizing - # This corresponds to checking (a) position of tip of projection mesh should align with origin of - # metalink, and (b) zero relative orientation between the metalink and the projection mesh - local_pos, local_quat = self.projection_mesh.get_position_orientation(frame="parent") - assert th.all( - th.isclose(local_pos + th.tensor([0, 0, height / 2.0]), th.zeros_like(local_pos)) - ), "Projection mesh tip should align with metalink position!" - local_euler = T.quat2euler(local_quat) - assert th.all( - th.isclose(local_euler, th.zeros_like(local_euler)) - ), "Projection mesh orientation should align with metalink orientation!" - # Store which method to use for sampling particle locations if self._sample_with_raycast: if self.method == ParticleModifyMethod.PROJECTION: @@ -1193,16 +1119,6 @@ def _compute_particle_spawn_information(self, system): ) self._in_mesh_local_particle_directions = directions / th.norm(directions, dim=-1).reshape(-1, 1) - def _update(self): - # If we're about to check for modification, update whether it the visualization should be active or not - if self.visualize and self._current_step == 0: - # Only one system in our conditions, so next(iter()) suffices - is_active = all(condition(self.obj) for condition in next(iter(self.conditions.values()))) - self.projection_emitter.GetProperty("inputs:active").Set(is_active) - - # Run super - super()._update() - def remove(self): # We need to remove the projection visualization if it exists if self.projection_system_prim is not None: @@ -1489,8 +1405,8 @@ def systems_to_check(self): @property def projection_is_active(self): - # Only active if the projection mesh is enabled - return self.projection_emitter.GetProperty("inputs:active").Get() + # Only one system in our conditions, so next(iter()) suffices + return all(condition(self.obj) for condition in next(iter(self.conditions.values()))) @classproperty def metalink_prefix(cls): diff --git a/omnigibson/utils/deprecated_utils.py b/omnigibson/utils/deprecated_utils.py index 740407476..a5933ac9e 100644 --- a/omnigibson/utils/deprecated_utils.py +++ b/omnigibson/utils/deprecated_utils.py @@ -20,8 +20,6 @@ from omni.isaac.core.utils.prims import get_prim_at_path, get_prim_parent from omni.kit.primitive.mesh.command import CreateMeshPrimWithDefaultXformCommand as CMPWDXC from omni.kit.primitive.mesh.command import _get_all_evaluators -from omni.particle.system.core.scripts.core import Core as OmniCore -from omni.particle.system.core.scripts.utils import Utils as OmniUtils from omni.replicator.core import random_colours from PIL import Image, ImageDraw from pxr import PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, UsdShade @@ -82,96 +80,6 @@ def __init__(self, prim_type: str, **kwargs): assert isinstance(self._evaluator_class, type) -class Utils(OmniUtils): - def create_material(self, name): - material_url = carb.settings.get_settings().get("/exts/omni.particle.system.core/material") - - # TODO: THIS IS THE ONLY LINE WE CHANGE! "/" SHOULD BE "" - material_path = "" - default_prim = self.stage.GetDefaultPrim() - if default_prim: - material_path = default_prim.GetPath().pathString - - if not self.stage.GetPrimAtPath(material_path + "/Looks"): - self.stage.DefinePrim(material_path + "/Looks", "Scope") - material_path += "/Looks/" + name - material_path = ou.get_stage_next_free_path(self.stage, material_path, False) - prim = self.stage.DefinePrim(material_path, "Material") - if material_url: - prim.GetReferences().AddReference(material_url) - else: - carb.log_error("Failed to find material URL in settings") - - return [material_path] - - -class Core(OmniCore): - """ - Subclass that overrides a specific function within Omni's Core class to fix a bug - """ - - def __init__(self, popup_callback: Callable[[str], None], particle_system_name: str): - self._popup_callback = popup_callback - self.utils = Utils() - self.context = ou.get_context() - self.stage = self.context.get_stage() - self.selection = self.context.get_selection() - self.particle_system_name = particle_system_name - self.sub_stage_update = self.context.get_stage_event_stream().create_subscription_to_pop(self.on_stage_update) - self.on_stage_update() - - def get_compute_graph(self, selected_paths, create_new_graph=True, created_paths=None): - """ - Returns the first ComputeGraph found in selected_paths. - If no graph is found and create_new_graph is true, a new graph will be created and its - path appended to created_paths (if provided). - """ - graph = None - graph_paths = [ - path - for path in selected_paths - if self.stage.GetPrimAtPath(path).GetTypeName() in ["ComputeGraph", "OmniGraph"] - ] - - if len(graph_paths) > 0: - graph = ogc.get_graph_by_path(graph_paths[0]) - if len(graph_paths) > 1: - carb.log_warn( - f"Multiple ComputeGraph prims selected. Only the first will be used: {graph.get_path_to_graph()}" - ) - elif create_new_graph: - # If no graph was found in the selected prims, we'll make a new graph. - # TODO: THIS IS THE ONLY LINE THAT WE CHANGE! ONCE FIXED, REMOVE THIS - graph_path = Sdf.Path(f"/OmniGraph/{self.particle_system_name}").MakeAbsolutePath(Sdf.Path.absoluteRootPath) - graph_path = ou.get_stage_next_free_path(self.stage, graph_path, True) - - # prim = self.stage.GetDefaultPrim() - # path = str(prim.GetPath()) if prim else "" - self.stage.DefinePrim("/OmniGraph", "Scope") - - container_graphs = ogc.get_global_container_graphs() - # FIXME: container_graphs[0] should be the simulation orchestration graph, but this may change in the future. - container_graph = container_graphs[0] - result, wrapper_node = ogc.cmds.CreateGraphAsNode( - graph=container_graph, - node_name=Sdf.Path(graph_path).name, - graph_path=graph_path, - evaluator_name="push", - is_global_graph=True, - backed_by_usd=True, - fc_backing_type=ogc.GraphBackingType.GRAPH_BACKING_TYPE_FLATCACHE_SHARED, - pipeline_stage=ogc.GraphPipelineStage.GRAPH_PIPELINE_STAGE_SIMULATION, - ) - graph = wrapper_node.get_wrapped_graph() - - if created_paths is not None: - created_paths.append(graph.get_path_to_graph()) - - carb.log_info(f"No ComputeGraph selected. A new graph has been created at {graph.get_path_to_graph()}") - - return graph - - class ArticulationView(_ArticulationView): """ArticulationView with some additional functionality implemented.""" From ffdce5795cac10390dc057b5035cb1896b682843 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Mon, 7 Oct 2024 11:24:13 -0700 Subject: [PATCH 06/55] Retrieve default shader input from shader node --- omnigibson/prims/material_prim.py | 8 +++++++- omnigibson/systems/micro_particle_system.py | 3 --- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/omnigibson/prims/material_prim.py b/omnigibson/prims/material_prim.py index d92135a1b..20690ca82 100644 --- a/omnigibson/prims/material_prim.py +++ b/omnigibson/prims/material_prim.py @@ -70,6 +70,7 @@ def __init__( ): # Other values that will be filled in at runtime self._shader = None + self._shader_node = None # Users of this material: should be a set of BaseObject and BaseSystem self._users = set() @@ -148,6 +149,7 @@ def _post_load(self): # Generate shader reference self._shader = lazy.omni.usd.get_shader_from_material(self._prim) + self._shader_node = lazy.usd.mdl.RegistryUtils.GetShaderNodeForPrim(self._shader.GetPrim()) def bind(self, target_prim_path): """ @@ -216,7 +218,11 @@ def get_input(self, inp): Returns: any: value of the requested @inp """ - return self._shader.GetInput(inp).Get() + non_default_inp = self._shader.GetInput(inp).Get() + if non_default_inp is not None: + return non_default_inp + + return self._shader_node.GetInput(inp).GetDefaultValue() def set_input(self, inp, val): """ diff --git a/omnigibson/systems/micro_particle_system.py b/omnigibson/systems/micro_particle_system.py index a9322638a..0f08befb2 100644 --- a/omnigibson/systems/micro_particle_system.py +++ b/omnigibson/systems/micro_particle_system.py @@ -494,9 +494,6 @@ def initialize(self, scene): self.system_prim = self._create_particle_system() # Get material material = self._get_particle_material_template() - # Load the material if it's newly created and has never been loaded before - if not material.loaded: - material.load() material.add_user(self) self._material = material # Bind the material to the particle system (for isosurface) and the prototypes (for non-isosurface) From aab3b3b1278442bae1aa78dd939709fce2a1353c Mon Sep 17 00:00:00 2001 From: hang-yin Date: Mon, 7 Oct 2024 15:52:14 -0700 Subject: [PATCH 07/55] Unbreak ObjectsInFOVOfRobot test --- tests/test_robot_states_no_flatcache.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/test_robot_states_no_flatcache.py b/tests/test_robot_states_no_flatcache.py index 66ff39f35..3461f62e7 100644 --- a/tests/test_robot_states_no_flatcache.py +++ b/tests/test_robot_states_no_flatcache.py @@ -40,5 +40,5 @@ def test_object_in_FOV_of_robot(): vision_sensor.set_position_orientation(position=[100, 150, 100]) og.sim.step() og.sim.step() - assert robot.states[ObjectsInFOVOfRobot].get_value() == [] + assert robot.states[ObjectsInFOVOfRobot].get_value() == [robot] og.clear() From 1e0411133065a95de2ce5633c1256c423337e129 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Mon, 7 Oct 2024 16:16:56 -0700 Subject: [PATCH 08/55] Fix transform util --- tests/test_transform_utils.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/test_transform_utils.py b/tests/test_transform_utils.py index 36d1802bc..d7eaac50f 100644 --- a/tests/test_transform_utils.py +++ b/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).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)) From 8a7f3af5fe3b76d360ebaf182954dc5c63b51e5b Mon Sep 17 00:00:00 2001 From: hang-yin Date: Mon, 7 Oct 2024 17:22:28 -0700 Subject: [PATCH 09/55] Fix material prim shader input bug --- omnigibson/objects/object_base.py | 6 +++++ omnigibson/prims/material_prim.py | 40 ++++++++++++++++++++++++------- omnigibson/utils/usd_utils.py | 28 ++++++++++++++++++++++ 3 files changed, 65 insertions(+), 9 deletions(-) diff --git a/omnigibson/objects/object_base.py b/omnigibson/objects/object_base.py index c34231551..88f40af85 100644 --- a/omnigibson/objects/object_base.py +++ b/omnigibson/objects/object_base.py @@ -228,6 +228,9 @@ def _initialize(self): self._highlight_cached_values = dict() for material in self.materials: + if material.is_glass: + # Skip glass materials + continue self._highlight_cached_values[material] = { "enable_emission": material.enable_emission, "emissive_color": material.emissive_color, @@ -334,6 +337,9 @@ def highlighted(self, enabled): return for material in self.materials: + if material.is_glass: + # Skip glass materials + continue if enabled: # Store values before swapping self._highlight_cached_values[material] = { diff --git a/omnigibson/prims/material_prim.py b/omnigibson/prims/material_prim.py index 20690ca82..553972855 100644 --- a/omnigibson/prims/material_prim.py +++ b/omnigibson/prims/material_prim.py @@ -7,7 +7,7 @@ import omnigibson.lazy as lazy from omnigibson.prims.prim_base import BasePrim from omnigibson.utils.physx_utils import bind_material -from omnigibson.utils.usd_utils import absolute_prim_path_to_scene_relative +from omnigibson.utils.usd_utils import absolute_prim_path_to_scene_relative, get_sdf_value_type_name class MaterialPrim(BasePrim): @@ -232,11 +232,14 @@ def set_input(self, inp, val): inp (str): Name of the shader input whose value will be set val (any): Value to set for the input. This should be the valid type for that attribute. """ - # Make sure the input exists first, so we avoid segfaults with "invalid null prim" - assert ( - inp in self.shader_input_names - ), f"Got invalid shader input to set! Current inputs are: {self.shader_input_names}. Got: {inp}" - self._shader.GetInput(inp).Set(val) + # # Make sure the input exists first, so we avoid segfaults with "invalid null prim" + if inp in self.shader_input_names: + self._shader.GetInput(inp).Set(val) + elif inp in self.shader_default_input_names: + input_type = get_sdf_value_type_name(val) + self._shader.CreateInput(inp, input_type).Set(val) + else: + raise ValueError(f"Got invalid shader input to set! Got: {inp}") @property def is_glass(self): @@ -244,7 +247,7 @@ def is_glass(self): Returns: bool: Whether this material is a glass material or not """ - return "glass_color" in self.shader_input_names + return "glass_color" in self.shader_input_names | self.shader_default_input_names @property def shader(self): @@ -262,15 +265,34 @@ def shader_input_names(self): """ return {inp.GetBaseName() for inp in self._shader.GetInputs()} - def shader_input_names_by_type(self, input_type): + @property + def shader_default_input_names(self): + """ + Returns: + set: All the shader input names associated with this material that have default values + """ + return set(self._shader_node.GetInputNames()) + + def shader_input_names_by_type(self, input_type, include_default=False): """ Args: input_type (str): input type + include_default (bool): whether to include default inputs Returns: set: All the shader input names associated with this material that match the given input type """ - return {inp.GetBaseName() for inp in self._shader.GetInputs() if inp.GetTypeName().cppTypeName == input_type} + shader_input_names = { + inp.GetBaseName() for inp in self._shader.GetInputs() if inp.GetTypeName().cppTypeName == input_type + } + if not include_default: + return shader_input_names + shader_default_input_names = { + inp_name + for inp_name in self.shader_default_input_names + if self._shader_node.GetInput(inp_name).GetType() == input_type + } + return shader_input_names | shader_default_input_names @property def diffuse_color_constant(self): diff --git a/omnigibson/utils/usd_utils.py b/omnigibson/utils/usd_utils.py index 6582474c4..998b5d9c3 100644 --- a/omnigibson/utils/usd_utils.py +++ b/omnigibson/utils/usd_utils.py @@ -1788,3 +1788,31 @@ def delete_or_deactivate_prim(prim_path): lazy.omni.usd.commands.DeletePrimsCommand([prim_path], destructive=False).do() return True + + +def get_sdf_value_type_name(val): + """ + Determines the appropriate Sdf value type based on the input value. + + Args: + val: The input value to determine the type for. + + Returns: + lazy.pxr.Sdf.ValueTypeName: The corresponding Sdf value type. + + Raises: + ValueError: If the input value type is not supported. + """ + SDF_TYPE_MAPPING = { + lazy.pxr.Gf.Vec3f: lazy.pxr.Sdf.ValueTypeNames.Float3, + lazy.pxr.Gf.Vec2f: lazy.pxr.Sdf.ValueTypeNames.Float2, + lazy.pxr.Sdf.AssetPath: lazy.pxr.Sdf.ValueTypeNames.Asset, + int: lazy.pxr.Sdf.ValueTypeNames.Int, + float: lazy.pxr.Sdf.ValueTypeNames.Float, + bool: lazy.pxr.Sdf.ValueTypeNames.Bool, + str: lazy.pxr.Sdf.ValueTypeNames.String, + } + for type_, usd_type in SDF_TYPE_MAPPING.items(): + if isinstance(val, type_): + return usd_type + raise ValueError(f"Unsupported input type: {type(val)}") From c8cf5b96cdd459ffe22e71848c3627f7457b80fe Mon Sep 17 00:00:00 2001 From: hang-yin Date: Tue, 8 Oct 2024 14:03:09 -0700 Subject: [PATCH 10/55] Rename shader_input_names_by_type --- omnigibson/prims/material_prim.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/omnigibson/prims/material_prim.py b/omnigibson/prims/material_prim.py index 553972855..1a648be10 100644 --- a/omnigibson/prims/material_prim.py +++ b/omnigibson/prims/material_prim.py @@ -194,7 +194,7 @@ def shader_update_asset_paths_with_root_path(self, root_path): root_path (str): root to be pre-appended to the original asset paths """ - for inp_name in self.shader_input_names_by_type("SdfAssetPath"): + for inp_name in self.get_shader_input_names_by_type("SdfAssetPath", include_default=True): inp = self.get_input(inp_name) # If the input doesn't have any path, skip if inp is None: @@ -273,7 +273,7 @@ def shader_default_input_names(self): """ return set(self._shader_node.GetInputNames()) - def shader_input_names_by_type(self, input_type, include_default=False): + def get_shader_input_names_by_type(self, input_type, include_default=False): """ Args: input_type (str): input type From 99f09990ab0a23c1bd3b98860f4b880e66dfb7b3 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Tue, 8 Oct 2024 14:30:24 -0700 Subject: [PATCH 11/55] Update robot pictures --- docs/assets/robots/A1.png | Bin 47483 -> 476966 bytes docs/assets/robots/R1.png | Bin 54121 -> 573811 bytes docs/assets/robots/Stretch.png | Bin 38175 -> 371629 bytes 3 files changed, 0 insertions(+), 0 deletions(-) diff --git a/docs/assets/robots/A1.png b/docs/assets/robots/A1.png index 856daa0cb4426367659f178ff3b4fe9bcc55f4b6..19d0c55bc4b33d86d3b96e25cdb3c874adbd2458 100644 GIT binary patch literal 476966 zcmeEu{Xf(D|Np9Ux;i0p4rw@XR6D083ben7P=@zAvZVpMT-|%h~NVUN<-9vFGdYd_3-t`~Ci0 z+ApVFwYC~<1%W_XCr`L|gFu@uuRS+!1b$*!?A8W+vyVA;HpVCNLQLHG=unWy`Ix9n zkujH$!QaM)Mq`kX5r?5LsP+DD|BQ)=!Z=u3hX3C$KqI3sTAEszV}Tdh5_RGn1_aVM zzxG`B(3y$^tpkBhy8Ltom;X_Xe0%^EZ?NPTIqsJr!*n?=_Wr%DGbZ)E7hn7Fz*JO@ zTM{r2^{x17w}{`0Bz-P^voX0<)>vd%(E>~&+(;}X_@ z$H6Usex3V|+pkzugS=5vShMJNPbSs57dg)A9i*PIcpDY@Ve!$sI9cOww19hz-gT|3 zRT_Djw;K@Z+GA!xK%nV-x&~eL)LD1%)AiHin=b=#uRUyk25tLv^;mcP@1L$NXKn{= 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WFr`jdwoG zd4{qB8}I3MyI5mF28=3aI~Pq^V}}k(@D&0Hz(VXxN-36?W;wbviFer(ulOp}pPN<0 z!eZi;_l`!RkvCK+Vy&syYBZV+8jU78Niepb5%=r9P_KocT@1^L<2bA%%)7G}7G}Tl z_b5OyzPdEAdoquAT zLh0=@DZ{p-{)ow}mohRkLUox!agwbRq-h!!E>L98A*8#!{#(wf?vIlOU}63+?bgUw z{H}%A8zci3VxLn=G16?ZeqoKPubyYLrRk+xxXQx&;^CabS%Vic&O>{wBffTYN#;8Xk(0j!A%=ufio;Wr{OFBWIr;TPvhL%s z)WJEt^W`|pV!?w_3S%8v9&n4VTWgE`Nd4ej44hV~JbDh9aTr(Won>O|AXA-*-FWLl zJd-2<3o%5LQq=1;E`0k8Z@#w9NX?SuMidT*C50YQc5v9bC{p~6$>tTbNs(pi4bfJWuUCAGB3+K6jJ4uhr;n2) z$u7QIA)Y-FfQ1-xN+~8L#(4d;E1W-jf?oGA&Ke$VJYeJDLpC=zNz)!_nv!Jb#vuBso89$8>!W=gVOAqL1bBq0P424m0I!UZ)x0*DYO`=HWC(-$$;JhXrt}Stu8S?H!Z{NxOicWIF>4x5KkikSP1dC zy!YI_dyilI@;7|+V3XC=Rgxqrhi(*;wD69V#d_fX`g%JN2?|r_k!Bel-q}fV{FG&Kh5JCvC3*@Xw2qA>n h1rmUT5JHGu@EHVtV3BbA1xo+`002ovPDHLkV1io|78w8l From c2108709bc8b7e0cef51910b9a83b6d1a9cc6b97 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Wed, 23 Oct 2024 13:04:06 -0700 Subject: [PATCH 12/55] Mist effect initial implementation --- omnigibson/object_states/factory.py | 12 +++++++++++- omnigibson/objects/stateful_object.py | 22 ++++++++++++++++++++-- omnigibson/utils/constants.py | 1 + 3 files changed, 32 insertions(+), 3 deletions(-) diff --git a/omnigibson/object_states/factory.py b/omnigibson/object_states/factory.py index c4d26c88c..9bbe27134 100644 --- a/omnigibson/object_states/factory.py +++ b/omnigibson/object_states/factory.py @@ -65,6 +65,12 @@ ] ) +_MIST_STATE_SET = frozenset( + [ + ParticleApplier, + ] +) + _TEXTURE_CHANGE_STATE_SET = frozenset( [ Frozen, @@ -84,7 +90,7 @@ ] ) -_VISUAL_STATE_SET = frozenset(_FIRE_STATE_SET | _STEAM_STATE_SET | _TEXTURE_CHANGE_STATE_SET) +_VISUAL_STATE_SET = frozenset(_FIRE_STATE_SET | _STEAM_STATE_SET | _TEXTURE_CHANGE_STATE_SET | _MIST_STATE_SET) _TEXTURE_CHANGE_PRIORITY = { Frozen: 4, @@ -107,6 +113,10 @@ def get_steam_states(): return _STEAM_STATE_SET +def get_mist_states(): + return _MIST_STATE_SET + + def get_texture_change_states(): return _TEXTURE_CHANGE_STATE_SET diff --git a/omnigibson/objects/stateful_object.py b/omnigibson/objects/stateful_object.py index a1bd5fc1e..650f23014 100644 --- a/omnigibson/objects/stateful_object.py +++ b/omnigibson/objects/stateful_object.py @@ -12,6 +12,7 @@ from omnigibson.object_states.factory import ( get_default_states, get_fire_states, + get_mist_states, get_requirements_for_ability, get_state_name, get_states_by_dependency_order, @@ -24,7 +25,7 @@ from omnigibson.object_states.heat_source_or_sink import HeatSourceOrSink from omnigibson.object_states.object_state_base import REGISTERED_OBJECT_STATES from omnigibson.object_states.on_fire import OnFire -from omnigibson.object_states.particle_modifier import ParticleRemover +from omnigibson.object_states.particle_modifier import ParticleApplier, ParticleRemover from omnigibson.objects.object_base import BaseObject from omnigibson.renderer_settings.renderer_settings import RendererSettings from omnigibson.utils.constants import EmitterType, PrimType @@ -167,6 +168,9 @@ def _initialize(self): if len(states_set & get_fire_states()) > 0: self._create_emitter_apis(EmitterType.FIRE) + if len(states_set & get_mist_states()) > 0: + self._create_emitter_apis(EmitterType.MIST) + def add_state(self, state): """ Adds state @state with name @name to self.states. @@ -336,8 +340,20 @@ def _create_emitter_apis(self, emitter_type): emitter_config["gravity"] = (0, 0, -50.0) emitter_config["constantMask"] = 10.0 emitter_config["attenuation"] = 1.5 + elif emitter_type == EmitterType.MIST: + link = self.states[ParticleApplier].link + emitter_config["name"] = "flowEmitterMesh" + emitter_config["type"] = "FlowEmitterMesh" + emitter_config["position"] = (0.0, 0.0, 0.0) + emitter_config["fuel"] = 1.0 + emitter_config["coupleRateFuel"] = 0.5 + emitter_config["buoyancyPerTemp"] = 0.05 + emitter_config["burnPerTemp"] = 0.5 + emitter_config["gravity"] = (0, 0, 0.0) + emitter_config["constantMask"] = 10.0 + emitter_config["attenuation"] = 1.5 else: - raise ValueError("Currently, only EmitterTypes FIRE and STEAM are supported!") + raise ValueError("Currently, only EmitterTypes FIRE, STEAM, and MIST are supported!") # Define prim paths. # The flow system is created under the root link so that it automatically updates its pose as the object moves @@ -465,6 +481,8 @@ def update_visuals(self): emitter_enabled[EmitterType.STEAM] |= state.get_value() if state_type in get_fire_states(): emitter_enabled[EmitterType.FIRE] |= state.get_value() + if state_type in get_mist_states(): + emitter_enabled[EmitterType.MIST] |= state.projection_is_active for emitter_type in emitter_enabled: self.set_emitter_enabled(emitter_type, emitter_enabled[emitter_type]) diff --git a/omnigibson/utils/constants.py b/omnigibson/utils/constants.py index 4cd7b8ab8..5680d54fc 100644 --- a/omnigibson/utils/constants.py +++ b/omnigibson/utils/constants.py @@ -76,6 +76,7 @@ class PrimType(IntEnum): class EmitterType(IntEnum): FIRE = 0 STEAM = 1 + MIST = 2 # Valid primitive mesh types From d03bfd4c34664decc43f2ef219450053fa69d87d Mon Sep 17 00:00:00 2001 From: hang-yin Date: Thu, 31 Oct 2024 15:15:31 -0700 Subject: [PATCH 13/55] VR scene tour demo without robot control --- .../teleoperation/vr_scene_tour_demo.py | 52 +++++++++++++++++++ 1 file changed, 52 insertions(+) create mode 100644 omnigibson/examples/teleoperation/vr_scene_tour_demo.py diff --git a/omnigibson/examples/teleoperation/vr_scene_tour_demo.py b/omnigibson/examples/teleoperation/vr_scene_tour_demo.py new file mode 100644 index 000000000..721317aae --- /dev/null +++ b/omnigibson/examples/teleoperation/vr_scene_tour_demo.py @@ -0,0 +1,52 @@ +""" +Example script for interacting with OmniGibson scenes with VR. +""" +import torch as th + +import omnigibson as og +from omnigibson.macros import gm +from omnigibson.utils.teleop_utils import OVXRSystem +from omnigibson.utils.asset_utils import get_available_og_scenes +from omnigibson.utils.ui_utils import choose_from_options + +def main(): + """ + Users can navigate around and interact with a selected scene using VR. + """ + + # Choose the scene model to load + scenes = get_available_og_scenes() + scene_model = choose_from_options(options=scenes, name="scene model") + + # Create the config for generating the environment we want + scene_cfg = {"type": "InteractiveTraversableScene", "scene_model": scene_model} + robot0_cfg = { + "type": "Fetch", + "obs_modalities": [], + } + cfg = dict(scene=scene_cfg, robots=[robot0_cfg]) + + # Create the environment + env = og.Environment(configs=cfg) + env.reset() + # start vrsys + vrsys = OVXRSystem( + robot=env.robots[0], show_control_marker=True, system="SteamVR", eef_tracking_mode="disabled", align_anchor_to="touchpad" + ) + vrsys.start() + # set headset position to be 1m above ground and facing +x + vrsys.set_initial_transform(pos=th.tensor([0.0, 0.0, 1.0]), orn=th.tensor([0.0, 0.0, 0.0, 1.0])) + + # main simulation loop + while True: + # step the VR system to get the latest data from VR runtime + vrsys.update() + og.sim.render() + + # Shut down the environment cleanly at the end + vrsys.stop() + og.clear() + + +if __name__ == "__main__": + main() From 4aeed8f85e9f058c0bd3e107b30b9d8be09fce02 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Thu, 31 Oct 2024 15:16:03 -0700 Subject: [PATCH 14/55] VR robot control with A1 demo --- .../teleoperation/vr_robot_control_demo.py | 56 +++++++++++++++++++ .../examples/teleoperation/vr_simple_demo.py | 49 ---------------- 2 files changed, 56 insertions(+), 49 deletions(-) create mode 100644 omnigibson/examples/teleoperation/vr_robot_control_demo.py delete mode 100644 omnigibson/examples/teleoperation/vr_simple_demo.py diff --git a/omnigibson/examples/teleoperation/vr_robot_control_demo.py b/omnigibson/examples/teleoperation/vr_robot_control_demo.py new file mode 100644 index 000000000..db3b986af --- /dev/null +++ b/omnigibson/examples/teleoperation/vr_robot_control_demo.py @@ -0,0 +1,56 @@ +""" +Example script for interacting with OmniGibson scenes with VR and BehaviorRobot. +""" +import torch as th + +import omnigibson as og +from omnigibson.macros import gm +from omnigibson.utils.teleop_utils import OVXRSystem + +gm.ENABLE_OBJECT_STATES = False +gm.ENABLE_TRANSITION_RULES = False + + +def main(): + """ + Spawn a BehaviorRobot in Rs_int and users can navigate around and interact with the scene using VR. + """ + # Create the config for generating the environment we want + # scene_cfg = {"type": "Scene"} + scene_cfg = {"type": "InteractiveTraversableScene", "scene_model": "Rs_int", "load_object_categories": ["floors", "walls", "ceilings"]} + robot0_cfg = { + "type": "R1", + "obs_modalities": ["rgb"], + "controller_config": { + "arm_left": {"name": "InverseKinematicsController", "mode": "absolute_pose", "command_input_limits": None, "command_output_limits": None}, + "arm_right": {"name": "InverseKinematicsController", "mode": "absolute_pose", "command_input_limits": None, "command_output_limits": None}, + "gripper_left": {"command_input_limits": "default"}, + "gripper_right": {"command_input_limits": "default"}, + }, + "action_normalize": False + } + cfg = dict(scene=scene_cfg, robots=[robot0_cfg]) + + # Create the environment + env = og.Environment(configs=cfg) + env.reset() + # start vrsys + vrsys = OVXRSystem( + robot=env.robots[0], show_control_marker=True, system="SteamVR", eef_tracking_mode="controller", align_anchor_to="camera" + ) + vrsys.start() + + # main simulation loop + for _ in range(1000): + # update the VR system + vrsys.update() + # get the action from the VR system and step the environment + env.step(vrsys.get_robot_teleop_action()) + + # Shut down the environment cleanly at the end + vrsys.stop() + og.clear() + + +if __name__ == "__main__": + main() diff --git a/omnigibson/examples/teleoperation/vr_simple_demo.py b/omnigibson/examples/teleoperation/vr_simple_demo.py deleted file mode 100644 index fa4cad1d8..000000000 --- a/omnigibson/examples/teleoperation/vr_simple_demo.py +++ /dev/null @@ -1,49 +0,0 @@ -""" -Example script for interacting with OmniGibson scenes with VR and BehaviorRobot. -""" - -import omnigibson as og -from omnigibson.utils.teleop_utils import OVXRSystem - - -def main(): - """ - Spawn a BehaviorRobot in Rs_int and users can navigate around and interact with the scene using VR. - """ - # Create the config for generating the environment we want - scene_cfg = {"type": "Scene"} # "InteractiveTraversableScene", "scene_model": "Rs_int"} - robot0_cfg = { - "type": "Tiago", - "controller_config": { - "gripper_left": {"command_input_limits": "default"}, - "gripper_right": {"command_input_limits": "default"}, - }, - } - cfg = dict(scene=scene_cfg, robots=[robot0_cfg]) - - # Create the environment - env = og.Environment(configs=cfg) - env.reset() - # start vrsys - vrsys = OVXRSystem( - robot=env.robots[0], show_control_marker=False, system="SteamVR", align_anchor_to_robot_base=True - ) - vrsys.start() - # set headset position to be 1m above ground and facing +x - vrsys.set_initial_transform(pos=[0, 0, 1], orn=[0, 0, 0, 1]) - - # main simulation loop - for _ in range(10000): - # step the VR system to get the latest data from VR runtime - vrsys.update() - # generate robot action and step the environment - action = vrsys.teleop_data_to_action() - env.step(action) - - # Shut down the environment cleanly at the end - vrsys.stop() - og.clear() - - -if __name__ == "__main__": - main() From 97e85cca922bc672d5997a660c991330b314490f Mon Sep 17 00:00:00 2001 From: hang-yin Date: Thu, 31 Oct 2024 15:16:51 -0700 Subject: [PATCH 15/55] Small infra changes for VR teleop --- omnigibson/robots/holonomic_base_robot.py | 3 ++- omnigibson/robots/manipulation_robot.py | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/omnigibson/robots/holonomic_base_robot.py b/omnigibson/robots/holonomic_base_robot.py index d93abc5b2..0c608b1fa 100644 --- a/omnigibson/robots/holonomic_base_robot.py +++ b/omnigibson/robots/holonomic_base_robot.py @@ -9,6 +9,7 @@ import omnigibson.utils.transform_utils as T from omnigibson.macros import create_module_macros from omnigibson.robots.locomotion_robot import LocomotionRobot +from omnigibson.robots.manipulation_robot import ManipulationRobot from omnigibson.utils.python_utils import classproperty m = create_module_macros(module_path=__file__) @@ -294,7 +295,7 @@ def _postprocess_control(self, control, control_type): def teleop_data_to_action(self, teleop_action) -> th.Tensor: action = ManipulationRobot.teleop_data_to_action(self, teleop_action) - action[self.base_action_idx] = th.tensor(teleop_action.base).float() * 0.1 + action[self.base_action_idx] = teleop_action.base.float() return action @property diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py index de8b6d954..ccc7bd67a 100644 --- a/omnigibson/robots/manipulation_robot.py +++ b/omnigibson/robots/manipulation_robot.py @@ -1593,12 +1593,12 @@ def teleop_data_to_action(self, teleop_action) -> th.Tensor: hands = ["left", "right"] if self.n_arms == 2 else ["right"] for i, hand in enumerate(hands): arm_name = self.arm_names[i] - arm_action = th.tensor(teleop_action[hand]).float() + arm_action = teleop_action[hand] # arm action assert isinstance(self._controllers[f"arm_{arm_name}"], InverseKinematicsController) or isinstance( self._controllers[f"arm_{arm_name}"], OperationalSpaceController ), f"Only IK and OSC controllers are supported for arm {arm_name}!" - target_pos, target_orn = arm_action[:3], T.quat2axisangle(T.euler2quat(arm_action[3:6])) + target_pos, target_orn = arm_action[:3], arm_action[3:6] action[self.arm_action_idx[arm_name]] = th.cat((target_pos, target_orn)) # gripper action assert isinstance( From 552d87cddbe8928d4b6a2e537f9bf0bf85123704 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Thu, 31 Oct 2024 15:17:33 -0700 Subject: [PATCH 16/55] Teleop utils refactor, WIP --- omnigibson/utils/teleop_utils.py | 245 ++++++++++++++++++------------ tests/test_robot_teleoperation.py | 4 +- 2 files changed, 148 insertions(+), 101 deletions(-) diff --git a/omnigibson/utils/teleop_utils.py b/omnigibson/utils/teleop_utils.py index 9a48eec31..360c68542 100644 --- a/omnigibson/utils/teleop_utils.py +++ b/omnigibson/utils/teleop_utils.py @@ -1,5 +1,5 @@ import time -from typing import Iterable, Optional, Tuple +from typing import Iterable, Optional, Tuple, Literal import torch as th @@ -9,6 +9,8 @@ from omnigibson.macros import create_module_macros from omnigibson.objects import USDObject from omnigibson.robots.robot_base import BaseRobot +from omnigibson.sensors import VisionSensor +from omnigibson.utils.control_utils import IKSolver try: from telemoma.configs.base_config import teleop_config @@ -119,9 +121,8 @@ def __init__( show_control_marker: bool = False, system: str = "SteamVR", disable_display_output: bool = False, - enable_touchpad_movement: bool = False, - align_anchor_to_robot_base: bool = False, - use_hand_tracking: bool = False, + eef_tracking_mode: Literal["controller", "hand", "disabled"] = "controller", + align_anchor_to: Literal["camera", "base", "touchpad"] = "camera", ) -> None: """ Initializes the VR system @@ -130,32 +131,22 @@ def __init__( show_control_marker (bool): whether to show a control marker system (str): the VR system to use, one of ["OpenXR", "SteamVR"], default is "SteamVR". disable_display_output (bool): whether we will not display output to the VR headset (only use controller tracking), default is False. - enable_touchpad_movement (bool): whether to enable VR system anchor movement by controller, default is False. - align_anchor_to_robot_base (bool): whether to align VR anchor to robot base, default is False. - use_hand_tracking (bool): whether to use hand tracking instead of controllers, default is False. - show_controller (bool): whether to show the controller model in the scene, default is False. - - NOTE: enable_touchpad_movement and align_anchor_to_robot_base cannot be enabled at the same time. - The former is to enable free movement of the VR system (i.e. the user), while the latter is constraining the VR system to the robot pose. + eef_tracking_mode (Literal): whether to use controller tracking or hand tracking, one of ["controller", "hand", "disabled"], default is controller. + align_anchor_to (Literal): specify where the VR view aligns to, one of ["camera", "base", "touchpad"], defaults to robot camera. + The "touchpad" option enables free movement of the VR view (i.e. the user), while the other two constrain the VR view to the either the robot base or camera pose. """ + assert align_anchor_to in ["camera", "base", "touchpad"], "align_anchor_to must be one of ['camera', 'base', 'touchpad']" + self.align_anchor_to = align_anchor_to self.raw_data = {} # enable xr extension lazy.omni.isaac.core.utils.extensions.enable_extension("omni.kit.xr.profile.vr") self.xr_device_class = lazy.omni.kit.xr.core.XRDeviceClass # run super method super().__init__(teleop_config, robot, show_control_marker) - # we want to further slow down the movement speed if we are using touchpad movement - if enable_touchpad_movement: - self.movement_speed *= 0.3 # get xr core and profile self.xr_core = lazy.omni.kit.xr.core.XRCore.get_singleton() self.vr_profile = self.xr_core.get_profile("vr") self.disable_display_output = disable_display_output - self.enable_touchpad_movement = enable_touchpad_movement - self.align_anchor_to_robot_base = align_anchor_to_robot_base - assert not ( - self.enable_touchpad_movement and self.align_anchor_to_robot_base - ), "enable_touchpad_movement and align_anchor_to_robot_base cannot be True at the same time!" # set avatar if self.show_control_marker: self.vr_profile.set_avatar( @@ -166,9 +157,7 @@ def __init__( lazy.omni.kit.xr.ui.stage.common.XRAvatarManager.get_singleton().create_avatar("empty_avatar", {}) ) # set anchor mode to be custom anchor - lazy.carb.settings.get_settings().set( - self.vr_profile.get_scene_persistent_path() + "anchorMode", "scene origin" - ) + lazy.carb.settings.get_settings().set(self.vr_profile.get_scene_persistent_path() + "anchorMode", "scene_origin") # set vr system lazy.carb.settings.get_settings().set(self.vr_profile.get_persistent_path() + "system/display", system) # set display mode @@ -180,17 +169,30 @@ def __init__( self.hmd = None self.controllers = {} self.trackers = {} - self.xr2og_orn_offset = th.tensor([0.5, -0.5, -0.5, -0.5]) - self.og2xr_orn_offset = th.tensor([-0.5, 0.5, 0.5, -0.5]) # setup event subscriptions self.reset() - self.use_hand_tracking = use_hand_tracking - if use_hand_tracking: + self.eef_tracking_mode = eef_tracking_mode + if eef_tracking_mode == "hand": self.raw_data["hand_data"] = {} self.teleop_action.hand_data = {} self._hand_tracking_subscription = self.xr_core.get_event_stream().create_subscription_to_pop_by_type( lazy.omni.kit.xr.core.XRCoreEventType.hand_joints, self._update_hand_tracking_data, name="hand tracking" ) + self.robot_cameras = [s for s in self.robot.sensors.values() if isinstance(s, VisionSensor)] + if self.align_anchor_to == "camera" and len(self.robot_cameras) == 0: + raise ValueError("No camera found on robot, cannot align anchor to camera") + # we want to further slow down the movement speed if we are using touchpad movement + if self.align_anchor_to == "touchpad": + self.movement_speed *= 0.3 + # self.global_ik_solver = {} + # for arm in self.robot_arms: + # control_idx = self.robot.arm_control_idx[arm] + # self.global_ik_solver[arm] = IKSolver( + # robot_description_path=self.robot.robot_arm_descriptor_yamls[arm], + # robot_urdf_path=self.robot.urdf_path, + # reset_joint_pos=self.robot.get_joint_positions()[control_idx], + # eef_name=self.robot.eef_link_names[arm], + # ) def xr2og(self, transform: th.tensor) -> Tuple[th.tensor, th.tensor]: """ @@ -203,7 +205,6 @@ def xr2og(self, transform: th.tensor) -> Tuple[th.tensor, th.tensor]: tuple(th.tensor, th.Tensor): the position and orientation in the OmniGibson coordinate system """ pos, orn = T.mat2pose(th.tensor(transform).T) - orn = T.quat_multiply(orn, self.xr2og_orn_offset) return pos, orn def og2xr(self, pos: th.tensor, orn: th.tensor) -> th.Tensor: @@ -215,7 +216,6 @@ def og2xr(self, pos: th.tensor, orn: th.tensor) -> th.Tensor: Returns: th.tensor: the transform matrix in the Omniverse XR coordinate system """ - orn = T.quat_multiply(self.og2xr_orn_offset, orn) return T.pose2mat((pos, orn)).T.double() def reset(self) -> None: @@ -249,6 +249,13 @@ def start(self) -> None: print("[VRSys] Waiting for VR headset to become active...") self._update_devices() if self.hmd is not None: + print("[VRSys] VR headset connected") + # Note that stepping the vr system multiple times is necessary here due to a bug in OVXR plugin + for _ in range(20): + self.update() + og.sim.step() + self.reset_head_transform() + print("[VRSys] VR system is ready") break time.sleep(1) og.sim.step() @@ -269,23 +276,24 @@ def update(self) -> None: self._update_devices() self._update_device_transforms() self._update_button_data() - # Update teleop data based on controller input if not using hand tracking - if not self.use_hand_tracking: - self.teleop_action.base = th.zeros(3) - self.teleop_action.torso = 0.0 - # update right hand related info + # Update teleop data based on controller input + if self.eef_tracking_mode == "controller": + # update eef related info for arm_name, arm in zip(["left", "right"], self.robot_arms): if arm in self.controllers: + controller_pose_in_robot_frame = self._pose_in_robot_frame( + self.raw_data["transforms"]["controllers"][arm][0], self.raw_data["transforms"]["controllers"][arm][1] + ) self.teleop_action[arm_name] = th.cat( ( - self.raw_data["transforms"]["controllers"][arm][0], - T.quat2euler( + controller_pose_in_robot_frame[0], + T.quat2axisangle( T.quat_multiply( - self.raw_data["transforms"]["controllers"][arm][1], - self.robot.teleop_rotation_offset[self.robot.arm_names[self.robot_arms.index(arm)]], + controller_pose_in_robot_frame[1], + self.robot.teleop_rotation_offset[arm_name], ) ), - [self.raw_data["button_data"][arm]["axis"]["trigger"]], + th.tensor([self.raw_data["button_data"][arm]["axis"]["trigger"]], dtype=th.float32), ) ) self.teleop_action.is_valid[arm_name] = self._is_valid_transform( @@ -293,44 +301,47 @@ def update(self) -> None: ) else: self.teleop_action.is_valid[arm_name] = False - # update base and reset info - if "right" in self.controllers: - self.teleop_action.reset["right"] = self.raw_data["button_data"]["right"]["press"]["grip"] - right_axis = self.raw_data["button_data"]["right"]["axis"] - self.teleop_action.base[0] = right_axis["touchpad_y"] * self.movement_speed - self.teleop_action.torso = -right_axis["touchpad_x"] * self.movement_speed - if "left" in self.controllers: - self.teleop_action.reset["left"] = self.raw_data["button_data"]["left"]["press"]["grip"] - left_axis = self.raw_data["button_data"]["left"]["axis"] - self.teleop_action.base[1] = -left_axis["touchpad_x"] * self.movement_speed - self.teleop_action.base[2] = left_axis["touchpad_y"] * self.movement_speed + + # update base, torso, and reset info + self.teleop_action.base = th.zeros(3) + self.teleop_action.torso = 0.0 + for controller_name in self.controllers.keys(): + self.teleop_action.reset[controller_name] = self.raw_data["button_data"][controller_name]["press"]["grip"] + axis = self.raw_data["button_data"][controller_name]["axis"] + if controller_name == "right": + self.teleop_action.base[0] = axis["touchpad_y"] * self.movement_speed + self.teleop_action.torso = -axis["touchpad_x"] * self.movement_speed + elif controller_name == "left": + self.teleop_action.base[1] = -axis["touchpad_x"] * self.movement_speed + self.teleop_action.base[2] = axis["touchpad_y"] * self.movement_speed + # update head related info self.teleop_action.head = th.cat( - (self.raw_data["transforms"]["head"][0], th.tensor(T.quat2euler(self.raw_data["transforms"]["head"][1]))) + (self.raw_data["transforms"]["head"][0], T.quat2euler(self.raw_data["transforms"]["head"][1])) ) self.teleop_action.is_valid["head"] = self._is_valid_transform(self.raw_data["transforms"]["head"]) - # Optionally move anchor - if self.enable_touchpad_movement: + + # align anchor + if self.align_anchor_to == "touchpad": # we use x, y from right controller for 2d movement and y from left controller for z movement self._move_anchor( pos_offset=th.cat((th.tensor([self.teleop_action.torso]), self.teleop_action.base[[0, 2]])) ) - if self.align_anchor_to_robot_base: - robot_base_pos, robot_base_orn = self.robot.get_position_orientation() - self.vr_profile.set_virtual_world_anchor_transform(self.og2xr(robot_base_pos, robot_base_orn[[0, 2, 1, 3]])) + else: + reference_frame = self.robot if self.align_anchor_to == "base" else self.robot_cameras[0] + anchor_pos, anchor_orn = reference_frame.get_position_orientation() + anchor_pose = self.og2xr(anchor_pos, anchor_orn) + self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device(anchor_pose.numpy(), self.hmd) - def teleop_data_to_action(self) -> th.Tensor: + def get_robot_teleop_action(self) -> th.Tensor: """ - Generate action data from VR input for robot teleoperation + Get the robot teleop action Returns: - th.tensor: array of action data + th.tensor: the robot teleop action """ - # optionally update control marker - if self.show_control_marker: - self.update_control_marker() return self.robot.teleop_data_to_action(self.teleop_action) - def reset_transform_mapping(self, arm: str = "right") -> None: + def snap_controller_to_eef(self, arm: str = "right") -> None: """ Snap device to the robot end effector (ManipulationRobot only) Args: @@ -342,21 +353,59 @@ def reset_transform_mapping(self, arm: str = "right") -> None: ].get_position_orientation()[0] target_transform = self.og2xr(pos=robot_eef_pos, orn=robot_base_orn) self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device( - target_transform, self.controllers[arm] + target_transform.numpy(), self.controllers[arm] + ) + + def snap_eef_to_controller(self, arm: str = "right") -> None: + """ + Snap robot end effector to the device (ManipulationRobot only) + Args: + arm(str): name of the arm, one of "left" or "right". Default is "right". + """ + self.robot.keep_still() + pos, quat = self.raw_data["transforms"]["controllers"][arm] + ik_solver = self.global_ik_solver[arm] + control_idx = self.robot.arm_control_idx[arm] + joint_pos = ik_solver.solve( + target_pos=pos, + target_quat=quat, + tolerance_pos=0.01, + tolerance_quat=0.01, + weight_pos=20.0, + weight_quat=0.05, + max_iterations=100, + initial_joint_pos=self.robot.get_joint_positions()[control_idx], ) + if joint_pos is not None: + self.robot.set_joint_positions(joint_pos, indices=control_idx, drive=False) + print("Snap succeeded.") + else: + print("Snap failed. No IK solution found.") - def set_initial_transform(self, pos: Iterable[float], orn: Iterable[float] = [0, 0, 0, 1]) -> None: + def reset_head_transform(self) -> None: """ - Function that sets the initial transform of the VR system (w.r.t.) head - Note that stepping the vr system multiple times is necessary here due to a bug in OVXR plugin + Function that resets the transform of the VR system (w.r.t.) head + """ + if self.align_anchor_to == "touchpad": + pos = th.tensor([0.0, 0.0, 1.0]) + orn = th.tensor([0.0, 0.0, 0.0, 1.0]) + else: + reference_frame = self.robot if self.align_anchor_to == "base" else self.robot_cameras[0] + pos, orn = reference_frame.get_position_orientation() + self.robot.keep_still() + self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device(self.og2xr(pos, orn).numpy(), self.hmd) + + def _pose_in_robot_frame(self, pos: th.tensor, orn: th.tensor) -> Tuple[th.tensor, th.tensor]: + """ + Get the pose in the robot frame Args: - pos(Iterable[float]): initial position of the vr system - orn(Iterable[float]): initial orientation of the vr system + pos (th.tensor): the position in the world frame + orn (th.tensor): the orientation in the world frame + Returns: + tuple(th.tensor, th.tensor): the position and orientation in the robot frame """ - for _ in range(10): - self.update() - og.sim.step() - self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device(self.og2xr(pos, orn), self.hmd) + robot_base_pos, robot_base_orn = self.robot.get_position_orientation() + return T.relative_pose_transform(pos, orn, robot_base_pos, robot_base_orn) def _move_anchor( self, pos_offset: Optional[Iterable[float]] = None, rot_offset: Optional[Iterable[float]] = None @@ -369,62 +418,60 @@ def _move_anchor( """ if pos_offset is not None: # note that x is forward, y is down, z is left for ovxr, but x is forward, y is left, z is up for og - pos_offset = th.tensor([-pos_offset[0], pos_offset[2], -pos_offset[1]]).double() + pos_offset = th.tensor([-pos_offset[0], pos_offset[2], -pos_offset[1]]).double().tolist() self.vr_profile.add_move_physical_world_relative_to_device(pos_offset) if rot_offset is not None: - rot_offset = th.tensor(rot_offset).double() + rot_offset = th.tensor(rot_offset).double().tolist() self.vr_profile.add_rotate_physical_world_around_device(rot_offset) + # TODO: check if this is necessary def _is_valid_transform(self, transform: Tuple[th.tensor, th.tensor]) -> bool: """ Determine whether the transform is valid (ovxr plugin will return a zero position and rotation if not valid) """ - return th.any(transform[0] != th.zeros(3)) and th.any(transform[1] != self.og2xr_orn_offset) + return th.any(transform[0] != th.zeros(3)) def _update_devices(self) -> None: """ Update the VR device list """ for device in self.vr_profile.get_device_list(): - if device.get_class() == self.xr_device_class.xrdisplaydevice: + device_class = device.get_class() + if device_class == self.xr_device_class.xrdisplaydevice: self.hmd = device - elif device.get_class() == self.xr_device_class.xrcontroller: + elif device_class == self.xr_device_class.xrcontroller: # we want the first 2 controllers to be corresponding to the left and right hand d_idx = device.get_index() controller_name = ["left", "right"][d_idx] if d_idx < 2 else f"controller_{d_idx+1}" self.controllers[controller_name] = device - elif device.get_class() == self.xr_device_class.xrtracker: + elif device_class == self.xr_device_class.xrtracker: self.trackers[device.get_index()] = device def _update_device_transforms(self) -> None: """ Get the transform matrix of each VR device *in world frame* and store in self.raw_data """ - transforms = {} - transforms["head"] = self.xr2og(self.hmd.get_virtual_world_pose()) - transforms["controllers"] = {} - transforms["trackers"] = {} - for controller_name in self.controllers: - transforms["controllers"][controller_name] = self.xr2og( - self.controllers[controller_name].get_virtual_world_pose() - ) - for tracker_index in self.trackers: - transforms["trackers"][tracker_index] = self.xr2og(self.trackers[tracker_index].get_virtual_world_pose()) - self.raw_data["transforms"] = transforms + assert self.hmd is not None, "VR headset device not found" + self.raw_data["transforms"] = { + "head": self.xr2og(self.hmd.get_virtual_world_pose()), + "controllers": {name: self.xr2og(controller.get_virtual_world_pose()) for name, controller in self.controllers.items()}, + "trackers": {index: self.xr2og(tracker.get_virtual_world_pose()) for index, tracker in self.trackers.items()} + } def _update_button_data(self): """ Get the button data for each controller and store in self.raw_data - Returns: - dict: a dictionary of whether each button is pressed or touched, and the axis state for touchpad and joysticks - """ - button_data = {} - for controller_name in self.controllers: - button_data[controller_name] = {} - button_data[controller_name]["press"] = self.controllers[controller_name].get_button_press_state() - button_data[controller_name]["touch"] = self.controllers[controller_name].get_button_touch_state() - button_data[controller_name]["axis"] = self.controllers[controller_name].get_axis_state() - self.raw_data["button_data"] = button_data + """ + self.raw_data["button_data"] = { + name: { + "press": controller.get_button_press_state(), + "touch": controller.get_button_touch_state(), + "axis": controller.get_axis_state() + } for name, controller in self.controllers.items() + } + # if anything in either press or touch is True, we breakpoint + if any(v for v in self.raw_data["button_data"]["left"]["press"].values()): + breakpoint() def _update_hand_tracking_data(self, e) -> None: """ diff --git a/tests/test_robot_teleoperation.py b/tests/test_robot_teleoperation.py index 1e922b997..e1e92fdf5 100644 --- a/tests/test_robot_teleoperation.py +++ b/tests/test_robot_teleoperation.py @@ -45,7 +45,7 @@ def test_teleop(): # test moving robot arm teleop_action.right = th.cat(([0.01], th.zeros(6))) for _ in range(50): - action = robot.teleop_data_to_action(teleop_action) + action = robot.get_robot_teleop_action(teleop_action) env.step(action) cur_eef_pose = robot.links[robot.eef_link_names[robot.default_arm]].get_position_orientation() assert cur_eef_pose[0][0] - start_eef_pose[0][0] > 0.02, "Robot arm not moving forward" @@ -54,7 +54,7 @@ def test_teleop(): teleop_action.right = th.zeros(7) teleop_action.base = th.tensor([0.1, 0, 0.1]) for _ in range(50): - action = robot.teleop_data_to_action(teleop_action) + action = robot.get_robot_teleop_action(teleop_action) env.step(action) cur_base_pose = robot.get_position_orientation() assert cur_base_pose[0][0] - start_base_pose[0][0] > 0.02, "robot base not moving forward" From 90efba56cc4273797474e13d016a26303f8430d8 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Thu, 31 Oct 2024 15:18:19 -0700 Subject: [PATCH 17/55] Update 4-2-0 kit file to include vr/xr extension --- omnigibson/omnigibson_4_2_0.kit | 1 + 1 file changed, 1 insertion(+) diff --git a/omnigibson/omnigibson_4_2_0.kit b/omnigibson/omnigibson_4_2_0.kit index 5b83ebb53..517024b4e 100644 --- a/omnigibson/omnigibson_4_2_0.kit +++ b/omnigibson/omnigibson_4_2_0.kit @@ -111,6 +111,7 @@ keywords = ["experience", "app", "usd"] "omni.warp" = {} "semantics.schema.editor" = {} "semantics.schema.property" = {} +"omni.kit.xr.profile.vr" = { version = "106.0.71" } [settings] renderer.active = "rtx" From bf3c2f90c66b85f72055d04a72952037beb00585 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Mon, 2 Dec 2024 13:18:43 -0800 Subject: [PATCH 18/55] Minor updates --- omnigibson/utils/teleop_utils.py | 132 +++++++++++++++---------------- 1 file changed, 66 insertions(+), 66 deletions(-) diff --git a/omnigibson/utils/teleop_utils.py b/omnigibson/utils/teleop_utils.py index 9c63dfe5f..1d1c85f42 100644 --- a/omnigibson/utils/teleop_utils.py +++ b/omnigibson/utils/teleop_utils.py @@ -178,7 +178,7 @@ def __init__( # lazy.carb.settings.get_settings().set(self.vr_profile.get_scene_persistent_path() + "anchorMode", "scene_origin") lazy.carb.settings.get_settings().set(self.vr_profile.get_scene_persistent_path() + "anchorMode", "custom_anchor") # set override leveled basis to be true (if this is false, headset would not track anchor pitch orientation) - # lazy.carb.settings.get_settings().set(self.vr_profile.get_persistent_path() + "overrideLeveledBasis", True) + lazy.carb.settings.get_settings().set(self.vr_profile.get_persistent_path() + "overrideLeveledBasis", True) # TODO: # lazy.carb.settings.get_settings().set(self.vr_profile.get_persistent_path() + "system/deviceTracking", False) # set vr system @@ -202,7 +202,7 @@ def __init__( lazy.omni.kit.xr.core.XRCoreEventType.hand_joints, self._update_hand_tracking_data, name="hand tracking" ) self.robot_cameras = [s for s in self.robot.sensors.values() if isinstance(s, VisionSensor)] - self.active_camera_id = 0 + self.active_camera_id = 2 if self.align_anchor_to == "camera" and len(self.robot_cameras) == 0: raise ValueError("No camera found on robot, cannot align anchor to camera") # we want to further slow down the movement speed if we are using touchpad movement @@ -313,51 +313,51 @@ def update(self) -> None: # update raw data self._update_devices() self._update_device_transforms() - self._update_button_data() - # Update teleop data based on controller input - if self.eef_tracking_mode == "controller": - # update eef related info - for arm_name, arm in zip(["left", "right"], self.robot_arms): - if arm in self.controllers: - controller_pose_in_robot_frame = self._pose_in_robot_frame( - self.raw_data["transforms"]["controllers"][arm][0], self.raw_data["transforms"]["controllers"][arm][1] - ) - self.teleop_action[arm_name] = th.cat( - ( - controller_pose_in_robot_frame[0], - T.quat2axisangle( - T.quat_multiply( - controller_pose_in_robot_frame[1], - self.robot.teleop_rotation_offset[arm_name], - ) - ), - th.tensor([self.raw_data["button_data"][arm]["axis"]["trigger"]], dtype=th.float32), - ) - ) - self.teleop_action.is_valid[arm_name] = self._is_valid_transform( - self.raw_data["transforms"]["controllers"][arm] - ) - else: - self.teleop_action.is_valid[arm_name] = False - - # update base, torso, and reset info - self.teleop_action.base = th.zeros(3) - self.teleop_action.torso = 0.0 - for controller_name in self.controllers.keys(): - self.teleop_action.reset[controller_name] = self.raw_data["button_data"][controller_name]["press"]["grip"] - axis = self.raw_data["button_data"][controller_name]["axis"] - if controller_name == "right": - self.teleop_action.base[0] = axis["touchpad_y"] * self.movement_speed - self.teleop_action.torso = -axis["touchpad_x"] * self.movement_speed - elif controller_name == "left": - self.teleop_action.base[1] = -axis["touchpad_x"] * self.movement_speed - self.teleop_action.base[2] = axis["touchpad_y"] * self.movement_speed + # self._update_button_data() + # # Update teleop data based on controller input + # if self.eef_tracking_mode == "controller": + # # update eef related info + # for arm_name, arm in zip(["left", "right"], self.robot_arms): + # if arm in self.controllers: + # controller_pose_in_robot_frame = self._pose_in_robot_frame( + # self.raw_data["transforms"]["controllers"][arm][0], self.raw_data["transforms"]["controllers"][arm][1] + # ) + # self.teleop_action[arm_name] = th.cat( + # ( + # controller_pose_in_robot_frame[0], + # T.quat2axisangle( + # T.quat_multiply( + # controller_pose_in_robot_frame[1], + # self.robot.teleop_rotation_offset[arm_name], + # ) + # ), + # th.tensor([self.raw_data["button_data"][arm]["axis"]["trigger"]], dtype=th.float32), + # ) + # ) + # self.teleop_action.is_valid[arm_name] = self._is_valid_transform( + # self.raw_data["transforms"]["controllers"][arm] + # ) + # else: + # self.teleop_action.is_valid[arm_name] = False + + # # update base, torso, and reset info + # self.teleop_action.base = th.zeros(3) + # self.teleop_action.torso = 0.0 + # for controller_name in self.controllers.keys(): + # self.teleop_action.reset[controller_name] = self.raw_data["button_data"][controller_name]["press"]["grip"] + # axis = self.raw_data["button_data"][controller_name]["axis"] + # if controller_name == "right": + # self.teleop_action.base[0] = axis["touchpad_y"] * self.movement_speed + # self.teleop_action.torso = -axis["touchpad_x"] * self.movement_speed + # elif controller_name == "left": + # self.teleop_action.base[1] = -axis["touchpad_x"] * self.movement_speed + # self.teleop_action.base[2] = axis["touchpad_y"] * self.movement_speed - # update head related info - self.teleop_action.head = th.cat( - (self.raw_data["transforms"]["head"][0], T.quat2euler(self.raw_data["transforms"]["head"][1])) - ) - self.teleop_action.is_valid["head"] = self._is_valid_transform(self.raw_data["transforms"]["head"]) + # # update head related info + # self.teleop_action.head = th.cat( + # (self.raw_data["transforms"]["head"][0], T.quat2euler(self.raw_data["transforms"]["head"][1])) + # ) + # self.teleop_action.is_valid["head"] = self._is_valid_transform(self.raw_data["transforms"]["head"]) # align anchor if self.align_anchor_to == "touchpad": @@ -367,26 +367,26 @@ def update(self) -> None: ) else: # if everything in self.teleop_action.base is zero, we don't move the anchor - if th.any(self.teleop_action.base != 0): - reference_frame = self.robot if self.align_anchor_to == "base" else self.robot_cameras[self.active_camera_id] - anchor_pos, anchor_orn = reference_frame.get_position_orientation() - - # if self.canonical_orientation is not None: - # headset_orn = T.quat2mat(self.raw_data["transforms"]["head"][1]) - # headset_to_canonical_orn = headset_orn.T @ self.canonical_orientation - # #anchor_orn = T.quat_multiply(T.mat2quat(headset_to_canonical_orn), anchor_orn) - # anchor_orn = T.quat_multiply(T.mat2quat(headset_to_canonical_orn.T), anchor_orn) - - - # if self.anchor_prim is not None: - # self.anchor_prim.GetAttribute('xformOp:translate').Set(lazy.pxr.Gf.Vec3d(anchor_pos.tolist())) - # breakpoint() - - anchor_pose = self.og2xr(anchor_pos, anchor_orn) - # self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device(anchor_pose.numpy(), self.hmd) - # self.vr_profile.set_physical_world_to_world_anchor_transform(anchor_pose.numpy()) - # set_physical_world_to_world_anchor_transform - self.vr_profile.teleport(anchor_pose.numpy()) + # if th.any(self.teleop_action.base != 0): + reference_frame = self.robot if self.align_anchor_to == "base" else self.robot_cameras[self.active_camera_id] + anchor_pos, anchor_orn = reference_frame.get_position_orientation() + + # if self.canonical_orientation is not None: + # headset_orn = T.quat2mat(self.raw_data["transforms"]["head"][1]) + # headset_to_canonical_orn = headset_orn.T @ self.canonical_orientation + # #anchor_orn = T.quat_multiply(T.mat2quat(headset_to_canonical_orn), anchor_orn) + # anchor_orn = T.quat_multiply(T.mat2quat(headset_to_canonical_orn.T), anchor_orn) + + + # if self.anchor_prim is not None: + # self.anchor_prim.GetAttribute('xformOp:translate').Set(lazy.pxr.Gf.Vec3d(anchor_pos.tolist())) + # breakpoint() + + anchor_pose = self.og2xr(anchor_pos, anchor_orn) + self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device(anchor_pose.numpy(), self.hmd) + # self.vr_profile.set_physical_world_to_world_anchor_transform(anchor_pose.numpy()) + # set_physical_world_to_world_anchor_transform + # self.vr_profile.teleport(anchor_pose.numpy()) def get_robot_teleop_action(self) -> th.Tensor: """ From f30bf9e166e47a5acdb676304c38674fafd05d17 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 2 Dec 2024 21:27:17 +0000 Subject: [PATCH 19/55] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- .../teleoperation/vr_robot_control_demo.py | 23 ++++++-- .../teleoperation/vr_scene_tour_demo.py | 21 ++++--- omnigibson/utils/teleop_utils.py | 59 ++++++++++++------- 3 files changed, 72 insertions(+), 31 deletions(-) diff --git a/omnigibson/examples/teleoperation/vr_robot_control_demo.py b/omnigibson/examples/teleoperation/vr_robot_control_demo.py index 34f5aebf9..601cb0e6d 100644 --- a/omnigibson/examples/teleoperation/vr_robot_control_demo.py +++ b/omnigibson/examples/teleoperation/vr_robot_control_demo.py @@ -1,6 +1,7 @@ """ Example script for interacting with OmniGibson scenes with VR and BehaviorRobot. """ + import torch as th import omnigibson as og @@ -26,12 +27,22 @@ def main(): "type": "R1", "obs_modalities": ["rgb"], "controller_config": { - "arm_left": {"name": "InverseKinematicsController", "mode": "absolute_pose", "command_input_limits": None, "command_output_limits": None}, - "arm_right": {"name": "InverseKinematicsController", "mode": "absolute_pose", "command_input_limits": None, "command_output_limits": None}, + "arm_left": { + "name": "InverseKinematicsController", + "mode": "absolute_pose", + "command_input_limits": None, + "command_output_limits": None, + }, + "arm_right": { + "name": "InverseKinematicsController", + "mode": "absolute_pose", + "command_input_limits": None, + "command_output_limits": None, + }, "gripper_left": {"command_input_limits": "default"}, "gripper_right": {"command_input_limits": "default"}, }, - "action_normalize": False + "action_normalize": False, } cfg = dict(scene=scene_cfg, robots=[robot0_cfg]) @@ -43,7 +54,11 @@ def main(): env.reset() # start vrsys vrsys = OVXRSystem( - robot=env.robots[0], show_control_marker=True, system="SteamVR", eef_tracking_mode="controller", align_anchor_to="camera" + robot=env.robots[0], + show_control_marker=True, + system="SteamVR", + eef_tracking_mode="controller", + align_anchor_to="camera", ) vrsys.start() diff --git a/omnigibson/examples/teleoperation/vr_scene_tour_demo.py b/omnigibson/examples/teleoperation/vr_scene_tour_demo.py index 6389cab5c..f73169058 100644 --- a/omnigibson/examples/teleoperation/vr_scene_tour_demo.py +++ b/omnigibson/examples/teleoperation/vr_scene_tour_demo.py @@ -1,17 +1,19 @@ """ Example script for interacting with OmniGibson scenes with VR. """ + import torch as th +import torch._dynamo import omnigibson as og from omnigibson.macros import gm -from omnigibson.utils.teleop_utils import OVXRSystem from omnigibson.utils.asset_utils import get_available_og_scenes +from omnigibson.utils.teleop_utils import OVXRSystem from omnigibson.utils.ui_utils import choose_from_options -import torch._dynamo torch._dynamo.config.suppress_errors = True + def main(): """ Users can navigate around and interact with a selected scene using VR. @@ -35,17 +37,22 @@ def main(): env.reset() # start vrsys vrsys = OVXRSystem( - robot=env.robots[0], show_control_marker=True, system="SteamVR", eef_tracking_mode="disabled", align_anchor_to="touchpad" + robot=env.robots[0], + show_control_marker=True, + system="SteamVR", + eef_tracking_mode="disabled", + align_anchor_to="touchpad", ) vrsys.start() # set headset position to be 1m above ground and facing +x # vrsys.set_initial_transform(pos=th.tensor([0.0, 0.2, 1.0]), orn=th.tensor([0.0, 0.0, 0.0, 1.0])) - vrsys.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device(vrsys.og2xr(th.tensor([0.1, 0.2, 1.0]), th.tensor([0.0, 0.0, 0.0, 1.0])).numpy(), vrsys.hmd) - + vrsys.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device( + vrsys.og2xr(th.tensor([0.1, 0.2, 1.0]), th.tensor([0.0, 0.0, 0.0, 1.0])).numpy(), vrsys.hmd + ) # generate a list of pitch angles in radians - pitch_angles = th.linspace(-th.pi/2, th.pi/2, 10) - yaw_angles = th.linspace(-th.pi/2, th.pi/2, 10) + pitch_angles = th.linspace(-th.pi / 2, th.pi / 2, 10) + yaw_angles = th.linspace(-th.pi / 2, th.pi / 2, 10) # main simulation loop while True: diff --git a/omnigibson/utils/teleop_utils.py b/omnigibson/utils/teleop_utils.py index 1d1c85f42..0c5f64c63 100644 --- a/omnigibson/utils/teleop_utils.py +++ b/omnigibson/utils/teleop_utils.py @@ -1,7 +1,7 @@ +import time from collections.abc import Iterable from dataclasses import dataclass, field -import time -from typing import Iterable, Optional, Tuple, Literal +from typing import Iterable, Literal, Optional, Tuple import torch as th @@ -16,6 +16,7 @@ try: from telemoma.configs.base_config import teleop_config + # from telemoma.human_interface.teleop_core import TeleopAction, TeleopObservation from telemoma.human_interface.teleop_policy import TeleopPolicy from telemoma.utils.general_utils import AttrDict @@ -25,6 +26,7 @@ m = create_module_macros(module_path=__file__) m.movement_speed = 0.2 # the speed of the robot base movement + @dataclass class TeleopAction(AttrDict): left: th.Tensor = field(default_factory=lambda: th.cat((th.zeros(6), th.ones(1)))) @@ -33,6 +35,7 @@ class TeleopAction(AttrDict): torso: float = field(default_factory=lambda: 0.0) extra: dict = field(default_factory=dict) + @dataclass class TeleopObservation(AttrDict): left: th.Tensor = field(default_factory=lambda: th.cat((th.zeros(6), th.ones(2)))) @@ -150,10 +153,14 @@ def __init__( system (str): the VR system to use, one of ["OpenXR", "SteamVR"], default is "SteamVR". disable_display_output (bool): whether we will not display output to the VR headset (only use controller tracking), default is False. eef_tracking_mode (Literal): whether to use controller tracking or hand tracking, one of ["controller", "hand", "disabled"], default is controller. - align_anchor_to (Literal): specify where the VR view aligns to, one of ["camera", "base", "touchpad"], defaults to robot camera. + align_anchor_to (Literal): specify where the VR view aligns to, one of ["camera", "base", "touchpad"], defaults to robot camera. The "touchpad" option enables free movement of the VR view (i.e. the user), while the other two constrain the VR view to the either the robot base or camera pose. """ - assert align_anchor_to in ["camera", "base", "touchpad"], "align_anchor_to must be one of ['camera', 'base', 'touchpad']" + assert align_anchor_to in [ + "camera", + "base", + "touchpad", + ], "align_anchor_to must be one of ['camera', 'base', 'touchpad']" self.align_anchor_to = align_anchor_to self.raw_data = {} # enable xr extension @@ -176,10 +183,12 @@ def __init__( ) # set anchor mode to be custom anchor # lazy.carb.settings.get_settings().set(self.vr_profile.get_scene_persistent_path() + "anchorMode", "scene_origin") - lazy.carb.settings.get_settings().set(self.vr_profile.get_scene_persistent_path() + "anchorMode", "custom_anchor") + lazy.carb.settings.get_settings().set( + self.vr_profile.get_scene_persistent_path() + "anchorMode", "custom_anchor" + ) # set override leveled basis to be true (if this is false, headset would not track anchor pitch orientation) lazy.carb.settings.get_settings().set(self.vr_profile.get_persistent_path() + "overrideLeveledBasis", True) - # TODO: + # TODO: # lazy.carb.settings.get_settings().set(self.vr_profile.get_persistent_path() + "system/deviceTracking", False) # set vr system lazy.carb.settings.get_settings().set(self.vr_profile.get_persistent_path() + "system/display", system) @@ -222,7 +231,7 @@ def __init__( # self._update_camera_callback = self.xr_core.get_event_stream().create_subscription_to_pop_by_type( # lazy.omni.kit.xr.core.XRCoreEventType.pre_render_update, self._update_camera, name="update camera" # ) - + # def _update_camera(self, e) -> None: # # reference_frame = self.robot if self.align_anchor_to == "base" else self.robot_cameras[self.active_camera_id] # reference_frame = self.robot if self.align_anchor_to == "base" else self.robot_cameras[0] @@ -352,13 +361,13 @@ def update(self) -> None: # elif controller_name == "left": # self.teleop_action.base[1] = -axis["touchpad_x"] * self.movement_speed # self.teleop_action.base[2] = axis["touchpad_y"] * self.movement_speed - + # # update head related info # self.teleop_action.head = th.cat( # (self.raw_data["transforms"]["head"][0], T.quat2euler(self.raw_data["transforms"]["head"][1])) # ) # self.teleop_action.is_valid["head"] = self._is_valid_transform(self.raw_data["transforms"]["head"]) - + # align anchor if self.align_anchor_to == "touchpad": # we use x, y from right controller for 2d movement and y from left controller for z movement @@ -368,7 +377,9 @@ def update(self) -> None: else: # if everything in self.teleop_action.base is zero, we don't move the anchor # if th.any(self.teleop_action.base != 0): - reference_frame = self.robot if self.align_anchor_to == "base" else self.robot_cameras[self.active_camera_id] + reference_frame = ( + self.robot if self.align_anchor_to == "base" else self.robot_cameras[self.active_camera_id] + ) anchor_pos, anchor_orn = reference_frame.get_position_orientation() # if self.canonical_orientation is not None: @@ -377,13 +388,14 @@ def update(self) -> None: # #anchor_orn = T.quat_multiply(T.mat2quat(headset_to_canonical_orn), anchor_orn) # anchor_orn = T.quat_multiply(T.mat2quat(headset_to_canonical_orn.T), anchor_orn) - # if self.anchor_prim is not None: # self.anchor_prim.GetAttribute('xformOp:translate').Set(lazy.pxr.Gf.Vec3d(anchor_pos.tolist())) # breakpoint() anchor_pose = self.og2xr(anchor_pos, anchor_orn) - self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device(anchor_pose.numpy(), self.hmd) + self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device( + anchor_pose.numpy(), self.hmd + ) # self.vr_profile.set_physical_world_to_world_anchor_transform(anchor_pose.numpy()) # set_physical_world_to_world_anchor_transform # self.vr_profile.teleport(anchor_pose.numpy()) @@ -410,7 +422,7 @@ def snap_controller_to_eef(self, arm: str = "right") -> None: self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device( target_transform.numpy(), self.controllers[arm] ) - + def snap_eef_to_controller(self, arm: str = "right") -> None: """ Snap robot end effector to the device (ManipulationRobot only) @@ -448,11 +460,13 @@ def reset_head_transform(self) -> None: reference_frame = self.robot if self.align_anchor_to == "base" else self.robot_cameras[0] pos, orn = reference_frame.get_position_orientation() self.robot.keep_still() - self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device(self.og2xr(pos, orn).numpy(), self.hmd) - + self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device( + self.og2xr(pos, orn).numpy(), self.hmd + ) + def record_canonical_orientation(self) -> None: self.canonical_orientation = T.quat2mat(self.raw_data["transforms"]["head"][1]) - + def _pose_in_robot_frame(self, pos: th.tensor, orn: th.tensor) -> Tuple[th.tensor, th.tensor]: """ Get the pose in the robot frame @@ -512,8 +526,12 @@ def _update_device_transforms(self) -> None: assert self.hmd is not None, "VR headset device not found" self.raw_data["transforms"] = { "head": self.xr2og(self.hmd.get_virtual_world_pose()), - "controllers": {name: self.xr2og(controller.get_virtual_world_pose()) for name, controller in self.controllers.items()}, - "trackers": {index: self.xr2og(tracker.get_virtual_world_pose()) for index, tracker in self.trackers.items()} + "controllers": { + name: self.xr2og(controller.get_virtual_world_pose()) for name, controller in self.controllers.items() + }, + "trackers": { + index: self.xr2og(tracker.get_virtual_world_pose()) for index, tracker in self.trackers.items() + }, } def _update_button_data(self): @@ -524,8 +542,9 @@ def _update_button_data(self): name: { "press": controller.get_button_press_state(), "touch": controller.get_button_touch_state(), - "axis": controller.get_axis_state() - } for name, controller in self.controllers.items() + "axis": controller.get_axis_state(), + } + for name, controller in self.controllers.items() } def _update_hand_tracking_data(self, e) -> None: From 397a34de8004d10b2a4a10deccd56342b6c3a209 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Mon, 2 Dec 2024 17:39:05 -0800 Subject: [PATCH 20/55] Clean up vr utils --- .../teleoperation/vr_robot_control_demo.py | 47 +++++-- omnigibson/utils/teleop_utils.py | 127 +++++++----------- 2 files changed, 86 insertions(+), 88 deletions(-) diff --git a/omnigibson/examples/teleoperation/vr_robot_control_demo.py b/omnigibson/examples/teleoperation/vr_robot_control_demo.py index 601cb0e6d..181fec88d 100644 --- a/omnigibson/examples/teleoperation/vr_robot_control_demo.py +++ b/omnigibson/examples/teleoperation/vr_robot_control_demo.py @@ -21,8 +21,7 @@ def main(): Spawn a BehaviorRobot in Rs_int and users can navigate around and interact with the scene using VR. """ # Create the config for generating the environment we want - scene_cfg = {"type": "Scene"} - # scene_cfg = {"type": "InteractiveTraversableScene", "scene_model": "Rs_int", "load_object_categories": ["floors", "walls", "ceilings"]} + scene_cfg = {"type": "InteractiveTraversableScene", "scene_model": "Rs_int"} robot0_cfg = { "type": "R1", "obs_modalities": ["rgb"], @@ -30,27 +29,56 @@ def main(): "arm_left": { "name": "InverseKinematicsController", "mode": "absolute_pose", + "pos_kp": 5.0, + "vel_kp": 0.0, "command_input_limits": None, "command_output_limits": None, }, "arm_right": { "name": "InverseKinematicsController", "mode": "absolute_pose", + "pos_kp": 5.0, + "vel_kp": 0.0, "command_input_limits": None, "command_output_limits": None, }, - "gripper_left": {"command_input_limits": "default"}, - "gripper_right": {"command_input_limits": "default"}, + "gripper_left": {"name": "MultiFingerGripperController", "command_input_limits": "default"}, + "gripper_right": {"name": "MultiFingerGripperController", "command_input_limits": "default"}, }, "action_normalize": False, + "reset_joint_pos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + -1.8000, + -0.8000, + 0.0000, + -0.0068, + 0.0059, + 2.6054, + 2.5988, + -1.4515, + -1.4478, + -0.0065, + 0.0052, + 1.5670, + -1.5635, + -1.1428, + 1.1610, + 0.0087, + 0.0087, + 0.0087, + 0.0087, + ], } cfg = dict(scene=scene_cfg, robots=[robot0_cfg]) # Create the environment env = og.Environment(configs=cfg) - og.sim.stop() - env.robots[0].base_footprint_link.mass = 250.0 - og.sim.play() env.reset() # start vrsys vrsys = OVXRSystem( @@ -62,14 +90,13 @@ def main(): ) vrsys.start() - # main simulation loop - while True: + for _ in range(3000): # update the VR system vrsys.update() # get the action from the VR system and step the environment env.step(vrsys.get_robot_teleop_action()) - # Shut down the environment cleanly at the end + print("Cleaning up...") vrsys.stop() og.clear() diff --git a/omnigibson/utils/teleop_utils.py b/omnigibson/utils/teleop_utils.py index 0c5f64c63..866a213fe 100644 --- a/omnigibson/utils/teleop_utils.py +++ b/omnigibson/utils/teleop_utils.py @@ -188,8 +188,6 @@ def __init__( ) # set override leveled basis to be true (if this is false, headset would not track anchor pitch orientation) lazy.carb.settings.get_settings().set(self.vr_profile.get_persistent_path() + "overrideLeveledBasis", True) - # TODO: - # lazy.carb.settings.get_settings().set(self.vr_profile.get_persistent_path() + "system/deviceTracking", False) # set vr system lazy.carb.settings.get_settings().set(self.vr_profile.get_persistent_path() + "system/display", system) # set display mode @@ -211,14 +209,13 @@ def __init__( lazy.omni.kit.xr.core.XRCoreEventType.hand_joints, self._update_hand_tracking_data, name="hand tracking" ) self.robot_cameras = [s for s in self.robot.sensors.values() if isinstance(s, VisionSensor)] + # TODO: this camera id is specific to R1, because it has 3 cameras, we need to make this more general self.active_camera_id = 2 if self.align_anchor_to == "camera" and len(self.robot_cameras) == 0: raise ValueError("No camera found on robot, cannot align anchor to camera") # we want to further slow down the movement speed if we are using touchpad movement if self.align_anchor_to == "touchpad": self.movement_speed *= 0.3 - self.canonical_orientation = None - self.anchor_prim = None # self.global_ik_solver = {} # for arm in self.robot_arms: # control_idx = self.robot.arm_control_idx[arm] @@ -228,16 +225,6 @@ def __init__( # reset_joint_pos=self.robot.get_joint_positions()[control_idx], # eef_name=self.robot.eef_link_names[arm], # ) - # self._update_camera_callback = self.xr_core.get_event_stream().create_subscription_to_pop_by_type( - # lazy.omni.kit.xr.core.XRCoreEventType.pre_render_update, self._update_camera, name="update camera" - # ) - - # def _update_camera(self, e) -> None: - # # reference_frame = self.robot if self.align_anchor_to == "base" else self.robot_cameras[self.active_camera_id] - # reference_frame = self.robot if self.align_anchor_to == "base" else self.robot_cameras[0] - # anchor_pos, anchor_orn = reference_frame.get_position_orientation() - # anchor_pose = self.og2xr(anchor_pos, anchor_orn) - # self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device(anchor_pose.numpy(), self.hmd) def xr2og(self, transform: th.tensor) -> Tuple[th.tensor, th.tensor]: """ @@ -300,8 +287,6 @@ def start(self) -> None: self.update() og.sim.step() self.reset_head_transform() - self.record_canonical_orientation() - self.anchor_prim = lazy.omni.isaac.core.utils.prims.get_prim_at_path("/_xr_gui/vr/_coord/anchor") print("[VRSys] VR system is ready") break time.sleep(1) @@ -322,51 +307,53 @@ def update(self) -> None: # update raw data self._update_devices() self._update_device_transforms() - # self._update_button_data() - # # Update teleop data based on controller input - # if self.eef_tracking_mode == "controller": - # # update eef related info - # for arm_name, arm in zip(["left", "right"], self.robot_arms): - # if arm in self.controllers: - # controller_pose_in_robot_frame = self._pose_in_robot_frame( - # self.raw_data["transforms"]["controllers"][arm][0], self.raw_data["transforms"]["controllers"][arm][1] - # ) - # self.teleop_action[arm_name] = th.cat( - # ( - # controller_pose_in_robot_frame[0], - # T.quat2axisangle( - # T.quat_multiply( - # controller_pose_in_robot_frame[1], - # self.robot.teleop_rotation_offset[arm_name], - # ) - # ), - # th.tensor([self.raw_data["button_data"][arm]["axis"]["trigger"]], dtype=th.float32), - # ) - # ) - # self.teleop_action.is_valid[arm_name] = self._is_valid_transform( - # self.raw_data["transforms"]["controllers"][arm] - # ) - # else: - # self.teleop_action.is_valid[arm_name] = False - - # # update base, torso, and reset info - # self.teleop_action.base = th.zeros(3) - # self.teleop_action.torso = 0.0 - # for controller_name in self.controllers.keys(): - # self.teleop_action.reset[controller_name] = self.raw_data["button_data"][controller_name]["press"]["grip"] - # axis = self.raw_data["button_data"][controller_name]["axis"] - # if controller_name == "right": - # self.teleop_action.base[0] = axis["touchpad_y"] * self.movement_speed - # self.teleop_action.torso = -axis["touchpad_x"] * self.movement_speed - # elif controller_name == "left": - # self.teleop_action.base[1] = -axis["touchpad_x"] * self.movement_speed - # self.teleop_action.base[2] = axis["touchpad_y"] * self.movement_speed - - # # update head related info - # self.teleop_action.head = th.cat( - # (self.raw_data["transforms"]["head"][0], T.quat2euler(self.raw_data["transforms"]["head"][1])) - # ) - # self.teleop_action.is_valid["head"] = self._is_valid_transform(self.raw_data["transforms"]["head"]) + self._update_button_data() + # Update teleop data based on controller input + if self.eef_tracking_mode == "controller": + # update eef related info + for arm_name, arm in zip(["left", "right"], self.robot_arms): + if arm in self.controllers: + controller_pose_in_robot_frame = self._pose_in_robot_frame( + self.raw_data["transforms"]["controllers"][arm][0], + self.raw_data["transforms"]["controllers"][arm][1], + ) + self.teleop_action[arm_name] = th.cat( + ( + controller_pose_in_robot_frame[0], + T.quat2axisangle( + T.quat_multiply( + controller_pose_in_robot_frame[1], + self.robot.teleop_rotation_offset[arm_name], + ) + ), + # When trigger is pressed, this value would be 1.0, otherwise 0.0 + # Our multi-finger gripper controller closes the gripper when the value is -1.0 and opens when > 0.0 + # So we need to negate the value here + th.tensor([-self.raw_data["button_data"][arm]["axis"]["trigger"]], dtype=th.float32), + ) + ) + self.teleop_action.is_valid[arm_name] = self._is_valid_transform( + self.raw_data["transforms"]["controllers"][arm] + ) + else: + self.teleop_action.is_valid[arm_name] = False + # update base, torso, and reset info + self.teleop_action.base = th.zeros(3) + self.teleop_action.torso = 0.0 + for controller_name in self.controllers.keys(): + self.teleop_action.reset[controller_name] = self.raw_data["button_data"][controller_name]["press"]["grip"] + axis = self.raw_data["button_data"][controller_name]["axis"] + if controller_name == "right": + self.teleop_action.base[0] = axis["touchpad_y"] * self.movement_speed + self.teleop_action.torso = -axis["touchpad_x"] * self.movement_speed + elif controller_name == "left": + self.teleop_action.base[1] = -axis["touchpad_x"] * self.movement_speed + self.teleop_action.base[2] = axis["touchpad_y"] * self.movement_speed + # update head related info + self.teleop_action.head = th.cat( + (self.raw_data["transforms"]["head"][0], T.quat2euler(self.raw_data["transforms"]["head"][1])) + ) + self.teleop_action.is_valid["head"] = self._is_valid_transform(self.raw_data["transforms"]["head"]) # align anchor if self.align_anchor_to == "touchpad": @@ -375,30 +362,17 @@ def update(self) -> None: pos_offset=th.cat((th.tensor([self.teleop_action.torso]), self.teleop_action.base[[0, 2]])) ) else: - # if everything in self.teleop_action.base is zero, we don't move the anchor + # Only align anchor when there's base movement # if th.any(self.teleop_action.base != 0): reference_frame = ( self.robot if self.align_anchor_to == "base" else self.robot_cameras[self.active_camera_id] ) anchor_pos, anchor_orn = reference_frame.get_position_orientation() - # if self.canonical_orientation is not None: - # headset_orn = T.quat2mat(self.raw_data["transforms"]["head"][1]) - # headset_to_canonical_orn = headset_orn.T @ self.canonical_orientation - # #anchor_orn = T.quat_multiply(T.mat2quat(headset_to_canonical_orn), anchor_orn) - # anchor_orn = T.quat_multiply(T.mat2quat(headset_to_canonical_orn.T), anchor_orn) - - # if self.anchor_prim is not None: - # self.anchor_prim.GetAttribute('xformOp:translate').Set(lazy.pxr.Gf.Vec3d(anchor_pos.tolist())) - # breakpoint() - anchor_pose = self.og2xr(anchor_pos, anchor_orn) self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device( anchor_pose.numpy(), self.hmd ) - # self.vr_profile.set_physical_world_to_world_anchor_transform(anchor_pose.numpy()) - # set_physical_world_to_world_anchor_transform - # self.vr_profile.teleport(anchor_pose.numpy()) def get_robot_teleop_action(self) -> th.Tensor: """ @@ -464,9 +438,6 @@ def reset_head_transform(self) -> None: self.og2xr(pos, orn).numpy(), self.hmd ) - def record_canonical_orientation(self) -> None: - self.canonical_orientation = T.quat2mat(self.raw_data["transforms"]["head"][1]) - def _pose_in_robot_frame(self, pos: th.tensor, orn: th.tensor) -> Tuple[th.tensor, th.tensor]: """ Get the pose in the robot frame From 06d157859f3e28ee0415a104564cae6694058ccd Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Tue, 3 Dec 2024 15:48:09 -0800 Subject: [PATCH 21/55] refactor backend to use np for better single-threaded efficiency --- omnigibson/controllers/controller_base.py | 126 +- omnigibson/controllers/dd_controller.py | 9 +- omnigibson/controllers/ik_controller.py | 84 +- omnigibson/controllers/joint_controller.py | 18 +- .../multi_finger_gripper_controller.py | 39 +- .../controllers/null_joint_controller.py | 9 +- omnigibson/controllers/osc_controller.py | 174 ++- omnigibson/macros.py | 4 + omnigibson/objects/controllable_object.py | 87 +- omnigibson/robots/holonomic_base_robot.py | 35 +- omnigibson/simulator.py | 4 + omnigibson/utils/control_utils.py | 30 - omnigibson/utils/python_utils.py | 18 + omnigibson/utils/transform_utils.py | 31 + omnigibson/utils/transform_utils_np.py | 1229 +++++++++++++++++ omnigibson/utils/usd_utils.py | 89 +- 16 files changed, 1725 insertions(+), 261 deletions(-) create mode 100644 omnigibson/utils/transform_utils_np.py diff --git a/omnigibson/controllers/controller_base.py b/omnigibson/controllers/controller_base.py index 7bb6feeb8..a17131e9f 100644 --- a/omnigibson/controllers/controller_base.py +++ b/omnigibson/controllers/controller_base.py @@ -3,8 +3,12 @@ from enum import IntEnum import torch as th +import numpy as np -from omnigibson.utils.python_utils import Recreatable, Registerable, Serializable, assert_valid_key, classproperty +from omnigibson.utils.python_utils import Recreatable, Registerable, Serializable, assert_valid_key, classproperty, \ + recursively_convert_from_torch +import omnigibson.utils.transform_utils as TT +import omnigibson.utils.transform_utils_np as NT # Global dicts that will contain mappings REGISTERED_CONTROLLERS = dict() @@ -34,6 +38,108 @@ class IsGraspingState(IntEnum): FALSE = -1 +class _ControllerBackend: + array = None + int_array = None + prod = None + cat = None + zeros = None + ones = None + to_numpy = None + from_numpy = None + to_torch = None + from_torch = None + from_torch_recursive = None + allclose = None + arr_type = None + as_int = None + as_float32 = None + pinv = None + meshgrid = None + full = None + logical_or = None + all = None + abs = None + sqrt = None + mean = None + copy = None + eye = None + view = None + T = None + + @classmethod + def set_methods(cls, backend): + for attr, fcn in backend.__dict__.items(): + # Do not override reserved functions + if attr.startswith("__"): + continue + # Set function to this backend + setattr(cls, attr, fcn) + + +class _ControllerTorchBackend(_ControllerBackend): + array = lambda *args: th.tensor(*args, dtype=th.float32) + int_array = lambda *args: th.tensor(*args, dtype=th.int) + prod = th.prod + cat = th.cat + zeros = lambda *args: th.zeros(*args, dtype=th.float32) + ones = lambda *args: th.ones(*args, dtype=th.float32) + to_numpy = lambda x: x.numpy() + from_numpy = lambda x: th.from_numpy() + to_torch = lambda x: x + from_torch = lambda x: x + from_torch_recursive = lambda dic: dic + allclose = th.allclose + arr_type = th.Tensor + as_int = lambda arr: arr.int() + as_float32 = lambda arr: arr.float() + pinv = th.linalg.pinv + meshgrid = lambda idx_a, idx_b: th.meshgrid(idx_a, idx_b, indexing="xy") + full = lambda shape, fill_value: th.full(shape, fill_value, dtype=th.float32) + logical_or = th.logical_or + all = th.all + abs = th.abs + sqrt = th.sqrt + mean = lambda val, dim=None, keepdim=False: th.mean(val, dim=dim, keepdim=keepdim) + copy = lambda arr: arr.clone() + eye = th.eye + view = lambda arr, shape: arr.view(shape) + T = TT + + +class _ControllerNumpyBackend(_ControllerBackend): + array = lambda *args: np.array(*args, dtype=np.float32) + int_array = lambda *args: np.array(*args, dtype=int) + prod = np.prod + cat = np.concatenate + zeros = lambda *args: np.zeros(*args, dtype=np.float32) + ones = lambda *args: np.ones(*args, dtype=np.float32) + to_numpy = lambda x: x + from_numpy = lambda x: x + to_torch = lambda x: th.from_numpy(x) + from_torch = lambda x: x.numpy() + from_torch_recursive = recursively_convert_from_torch + allclose = np.allclose + arr_type = np.ndarray + as_int = lambda arr: arr.astype(int) + as_float32 = lambda arr: arr.astype(np.float32) + pinv = np.linalg.pinv + meshgrid = lambda idx_a, idx_b: np.ix_(idx_a, idx_b) + full = lambda shape, fill_value: np.full(shape, fill_value, dtype=np.float32) + logical_or = np.logical_or + all = np.all + abs = np.abs + sqrt = np.sqrt + mean = lambda val, dim=None, keepdim=False: np.mean(val, axis=dim, keepdims=keepdim) + copy = lambda arr: np.array(arr) + eye = np.eye + view = lambda arr, shape: arr.reshape(shape) + T = NT + + +_controller_backend = _ControllerBackend + + # Define macros class ControlType: NONE = -1 @@ -112,11 +218,11 @@ def __init__( ] assert "has_limit" in control_limits, "Expected has_limit specified in control_limits, but does not exist." self._dof_has_limits = control_limits["has_limit"] - self._dof_idx = dof_idx.int() + self._dof_idx = _controller_backend.as_int(dof_idx) # Generate goal information self._goal_shapes = self._get_goal_shapes() - self._goal_dim = int(sum(th.prod(th.tensor(shape)) for shape in self._goal_shapes.values())) + self._goal_dim = int(sum(_controller_backend.prod(_controller_backend.array(shape)) for shape in self._goal_shapes.values())) # Initialize some other variables that will be filled in during runtime self._control = None @@ -169,7 +275,7 @@ def _preprocess_command(self, command): Array[float]: Processed command vector """ # Make sure command is a th.tensor - command = th.tensor([command], dtype=th.float32) if type(command) in {int, float} else command + command = _controller_backend.array([command]) if type(command) in {int, float} else command # We only clip and / or scale if self.command_input_limits exists if self._command_input_limits is not None: # Clip @@ -365,12 +471,12 @@ def _load_state(self, state): def serialize(self, state): # Make sure size of the state is consistent, even if we have no goal goal_state_flattened = ( - th.cat([goal_state.flatten() for goal_state in self._goal.values()]) + _controller_backend.cat([goal_state.flatten() for goal_state in self._goal.values()]) if (state)["goal_is_valid"] - else th.zeros(self.goal_dim) + else _controller_backend.zeros(self.goal_dim) ) - return th.cat([th.tensor([state["goal_is_valid"]]), goal_state_flattened]) + return _controller_backend.cat([_controller_backend.array([state["goal_is_valid"]]), goal_state_flattened]) def deserialize(self, state): goal_is_valid = bool(state[0]) @@ -419,11 +525,11 @@ def nums2array(nums, dim): # Else, input is a single value, so we map to a numpy array of correct size and return return ( nums - if isinstance(nums, th.Tensor) + if isinstance(nums, _controller_backend.arr_type) else ( - th.tensor(nums, dtype=th.float32) + _controller_backend.array(nums) if isinstance(nums, Iterable) - else th.ones(dim, dtype=th.float32) * nums + else _controller_backend.ones(dim) * nums ) ) diff --git a/omnigibson/controllers/dd_controller.py b/omnigibson/controllers/dd_controller.py index 38207b417..da35e3f86 100644 --- a/omnigibson/controllers/dd_controller.py +++ b/omnigibson/controllers/dd_controller.py @@ -1,6 +1,5 @@ -import torch as th - from omnigibson.controllers import ControlType, LocomotionController +from omnigibson.controllers.controller_base import _controller_backend as cb class DifferentialDriveController(LocomotionController): @@ -107,14 +106,14 @@ def compute_control(self, goal_dict, control_dict): right_wheel_joint_vel = (lin_vel + ang_vel * self._wheel_axle_halflength) / self._wheel_radius # Return desired velocities - return th.tensor([left_wheel_joint_vel, right_wheel_joint_vel]) + return cb.array([left_wheel_joint_vel, right_wheel_joint_vel]) def compute_no_op_goal(self, control_dict): # This is zero-vector, since we want zero linear / angular velocity - return dict(vel=th.zeros(2)) + return dict(vel=cb.zeros(2)) def _compute_no_op_action(self, control_dict): - return th.zeros(2, dtype=th.float32) + return cb.zeros(2) def _get_goal_shapes(self): # Add (2, )-array representing linear, angular velocity diff --git a/omnigibson/controllers/ik_controller.py b/omnigibson/controllers/ik_controller.py index fa0e18b2a..3e2c46d94 100644 --- a/omnigibson/controllers/ik_controller.py +++ b/omnigibson/controllers/ik_controller.py @@ -1,12 +1,10 @@ import math +from collections.abc import Iterable +from omnigibson.controllers.controller_base import _controller_backend as cb -import torch as th - -import omnigibson.utils.transform_utils as T from omnigibson.controllers import ControlType, ManipulationController from omnigibson.controllers.joint_controller import JointController from omnigibson.macros import create_module_macros, gm -from omnigibson.utils.control_utils import orientation_error from omnigibson.utils.processing_utils import MovingAverageFilter from omnigibson.utils.python_utils import assert_valid_key from omnigibson.utils.ui_utils import create_module_logger @@ -44,8 +42,8 @@ def __init__( dof_idx, command_input_limits="default", command_output_limits=( - th.tensor([-0.2, -0.2, -0.2, -0.5, -0.5, -0.5], dtype=th.float32), - th.tensor([0.2, 0.2, 0.2, 0.5, 0.5, 0.5], dtype=th.float32), + (-0.2, -0.2, -0.2, -0.5, -0.5, -0.5), + (0.2, 0.2, 0.2, 0.5, 0.5, 0.5), ), pos_kp=None, pos_damping_ratio=None, @@ -118,11 +116,11 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D """ # Store arguments control_dim = len(dof_idx) - self.control_filter = ( - None - if smoothing_filter_size in {None, 0} - else MovingAverageFilter(obs_dim=control_dim, filter_width=smoothing_filter_size) - ) + self.control_filter = None #( + # None + # if smoothing_filter_size in {None, 0} + # else MovingAverageFilter(obs_dim=control_dim, filter_width=smoothing_filter_size) + # ) assert mode in IK_MODES, f"Invalid ik mode specified! Valid options are: {IK_MODES}, got: {mode}" # If mode is absolute pose, make sure command input limits / output limits are None @@ -147,29 +145,23 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D if command_input_limits is not None: if type(command_input_limits) == str and command_input_limits == "default": command_input_limits = [ - th.tensor([-1.0, -1.0, -1.0, -math.pi, -math.pi, -math.pi], dtype=th.float32), - th.tensor([1.0, 1.0, 1.0, math.pi, math.pi, math.pi], dtype=th.float32), + cb.array([-1.0, -1.0, -1.0, -math.pi, -math.pi, -math.pi]), + cb.array([1.0, 1.0, 1.0, math.pi, math.pi, math.pi]), ] else: - command_input_limits[0][3:] = th.tensor( - [-math.pi] * len(command_input_limits[0][3:]), dtype=th.float32 - ) - command_input_limits[1][3:] = th.tensor( - [math.pi] * len(command_input_limits[1][3:]), dtype=th.float32 - ) + command_input_limits[0][3:] = cb.array([-math.pi] * len(command_input_limits[0][3:])) + command_input_limits[1][3:] = cb.array([math.pi] * len(command_input_limits[1][3:])) if command_output_limits is not None: + if not isinstance(command_output_limits, str) and isinstance(command_output_limits, Iterable): + command_output_limits = cb.array(command_output_limits) if type(command_output_limits) == str and command_output_limits == "default": command_output_limits = [ - th.tensor([-1.0, -1.0, -1.0, -math.pi, -math.pi, -math.pi], dtype=th.float32), - th.tensor([1.0, 1.0, 1.0, math.pi, math.pi, math.pi], dtype=th.float32), + cb.array([-1.0, -1.0, -1.0, -math.pi, -math.pi, -math.pi]), + cb.array([1.0, 1.0, 1.0, math.pi, math.pi, math.pi]), ] else: - command_output_limits[0][3:] = th.tensor( - [-math.pi] * len(command_output_limits[0][3:]), dtype=th.float32 - ) - command_output_limits[1][3:] = th.tensor( - [math.pi] * len(command_output_limits[1][3:]), dtype=th.float32 - ) + command_output_limits[0][3:] = cb.array([-math.pi] * len(command_output_limits[0][3:])) + command_output_limits[1][3:] = cb.array([math.pi] * len(command_output_limits[1][3:])) # Run super init super().__init__( control_freq=control_freq, @@ -197,14 +189,15 @@ def reset(self): @property def state_size(self): # Add state size from the control filter - return super().state_size + self.control_filter.state_size + return super().state_size + (0 if self.control_filter is None else self.control_filter.state_size) def _dump_state(self): # Run super first state = super()._dump_state() # Add internal quaternion target and filter state - state["control_filter"] = self.control_filter.dump_state(serialized=False) + if self.control_filter is not None: + state["control_filter"] = self.control_filter.dump_state(serialized=False) return state @@ -217,17 +210,18 @@ def _load_state(self, state): self._fixed_quat_target = self._goal["target_quat"] # Load relevant info for this controller - self.control_filter.load_state(state["control_filter"], serialized=False) + if self.control_filter is not None: + self.control_filter.load_state(state["control_filter"], serialized=False) def serialize(self, state): # Run super first state_flat = super().serialize(state=state) # Serialize state for this controller - return th.cat( + return cb.cat( [ state_flat, - self.control_filter.serialize(state=state["control_filter"]), + cb.array([]) if self.control_filter is None else self.control_filter.serialize(state=state["control_filter"]), ] ) @@ -236,9 +230,11 @@ def deserialize(self, state): state_dict, idx = super().deserialize(state=state) # Deserialize state for this controller - state_dict["control_filter"], deserialized_items = self.control_filter.deserialize(state=state[idx:]) + if self.control_filter is not None: + state_dict["control_filter"], deserialized_items = self.control_filter.deserialize(state=state[idx:]) + idx += deserialized_items - return state_dict, idx + deserialized_items + return state_dict, idx def _update_goal(self, command, control_dict): # Grab important info from control dict @@ -263,11 +259,11 @@ def _update_goal(self, command, control_dict): target_quat = quat_relative elif self.mode == "pose_absolute_ori" or self.mode == "absolute_pose": # Received "delta" ori is in fact the desired absolute orientation - target_quat = T.axisangle2quat(command[3:6]) + target_quat = cb.T.axisangle2quat(command[3:6]) else: # pose_delta_ori control # Grab dori and compute target ori - dori = T.quat2mat(T.axisangle2quat(command[3:6])) - target_quat = T.mat2quat(dori @ T.quat2mat(quat_relative)) + dori = cb.T.quat2mat(cb.T.axisangle2quat(command[3:6])) + target_quat = cb.T.mat2quat(dori @ cb.T.quat2mat(quat_relative)) # Possibly limit to workspace if specified if self.workspace_pose_limiter is not None: @@ -314,23 +310,23 @@ def compute_control(self, goal_dict, control_dict): # If the delta is really small, we just keep the current joint position. This avoids joint # drift caused by IK solver inaccuracy even when zero delta actions are provided. - if th.allclose(pos_relative, target_pos, atol=1e-4) and th.allclose(quat_relative, target_quat, atol=1e-4): + if cb.allclose(pos_relative, target_pos, atol=1e-4) and cb.allclose(quat_relative, target_quat, atol=1e-4): target_joint_pos = current_joint_pos else: # Compute the pose error. Note that this is computed NOT in the EEF frame but still # in the base frame. pos_err = target_pos - pos_relative - ori_err = orientation_error(T.quat2mat(target_quat), T.quat2mat(quat_relative)) - err = th.cat([pos_err, ori_err]) + ori_err = cb.T.orientation_error(cb.T.quat2mat(target_quat), cb.T.quat2mat(quat_relative)) + err = cb.cat([pos_err, ori_err]) # Use the jacobian to compute a local approximation j_eef = control_dict[f"{self.task_name}_jacobian_relative"][:, self.dof_idx] - j_eef_pinv = th.linalg.pinv(j_eef) + j_eef_pinv = cb.pinv(j_eef) delta_j = j_eef_pinv @ err target_joint_pos = current_joint_pos + delta_j # Clip values to be within the joint limits - target_joint_pos = target_joint_pos.clamp( + target_joint_pos = target_joint_pos.clip( min=self._control_limits[ControlType.get_type("position")][0][self.dof_idx], max=self._control_limits[ControlType.get_type("position")][1][self.dof_idx], ) @@ -353,7 +349,7 @@ def _compute_no_op_action(self, control_dict): pos_relative = control_dict[f"{self.task_name}_pos_relative"] quat_relative = control_dict[f"{self.task_name}_quat_relative"] - command = th.zeros(6, dtype=th.float32, device=pos_relative.device) + command = cb.zeros(6) # Handle position if self.mode == "absolute_pose": @@ -364,7 +360,7 @@ def _compute_no_op_action(self, control_dict): # Handle orientation if self.mode in ("pose_absolute_ori", "absolute_pose"): - command[3:] = T.quat2axisangle(quat_relative) + command[3:] = cb.T.quat2axisangle(quat_relative) else: # For these modes, we don't need to add orientation to the command pass diff --git a/omnigibson/controllers/joint_controller.py b/omnigibson/controllers/joint_controller.py index 4ee046cd6..31bb3f5aa 100644 --- a/omnigibson/controllers/joint_controller.py +++ b/omnigibson/controllers/joint_controller.py @@ -1,8 +1,6 @@ import math -import torch as th - -import omnigibson.utils.transform_utils as T +from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.controllers import ( ControlType, GripperController, @@ -158,10 +156,10 @@ def _update_goal(self, command, control_dict): delta_rots = command[[rx_ind, ry_ind, rz_ind]] # Compute the final rotations in the quaternion space. - _, end_quat = T.pose_transform( - th.zeros(3), T.euler2quat(delta_rots), th.zeros(3), T.euler2quat(start_rots) + _, end_quat = cb.T.pose_transform( + cb.zeros(3), cb.T.euler2quat(delta_rots), cb.zeros(3), cb.T.euler2quat(start_rots) ) - end_rots = T.quat2euler(end_quat) + end_rots = cb.T.quat2euler(end_quat) # Update the command target[[rx_ind, ry_ind, rz_ind]] = end_rots @@ -212,7 +210,7 @@ def compute_control(self, goal_dict, control_dict): else: # effort u = target - dof_idxs_mat = th.meshgrid(self.dof_idx, self.dof_idx, indexing="xy") + dof_idxs_mat = cb.meshgrid(self.dof_idx, self.dof_idx) mm = control_dict["mass_matrix"][dof_idxs_mat] u = mm @ u @@ -238,21 +236,21 @@ def compute_no_op_goal(self, control_dict): target = control_dict[f"joint_{self._motor_type}"][self.dof_idx] else: # For velocity / effort, directly set to 0 - target = th.zeros(self.control_dim) + target = cb.zeros(self.control_dim) return dict(target=target) def _compute_no_op_action(self, control_dict): if self.motor_type == "position": if self._use_delta_commands: - return th.zeros(self.command_dim) + return cb.zeros(self.command_dim) else: return control_dict[f"joint_position"][self.dof_idx] elif self.motor_type == "velocity": if self._use_delta_commands: return -control_dict[f"joint_velocity"][self.dof_idx] else: - return th.zeros(self.command_dim) + return cb.zeros(self.command_dim) raise ValueError("Cannot compute noop action for effort motor type.") diff --git a/omnigibson/controllers/multi_finger_gripper_controller.py b/omnigibson/controllers/multi_finger_gripper_controller.py index 9eb70241f..4c8ff6bf4 100644 --- a/omnigibson/controllers/multi_finger_gripper_controller.py +++ b/omnigibson/controllers/multi_finger_gripper_controller.py @@ -1,6 +1,4 @@ -import torch as th - -import omnigibson.utils.transform_utils as T +from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.controllers import ControlType, GripperController, IsGraspingState from omnigibson.macros import create_module_macros from omnigibson.utils.python_utils import assert_valid_key @@ -95,8 +93,8 @@ def __init__( self._inverted = inverted self._mode = mode self._limit_tolerance = limit_tolerance - self._open_qpos = open_qpos if open_qpos is None else th.tensor(open_qpos) - self._closed_qpos = closed_qpos if closed_qpos is None else th.tensor(closed_qpos) + self._open_qpos = open_qpos if open_qpos is None else cb.array(open_qpos) + self._closed_qpos = closed_qpos if closed_qpos is None else cb.array(closed_qpos) # Create other args to be filled in at runtime self._is_grasping = IsGraspingState.FALSE @@ -125,9 +123,9 @@ def _preprocess_command(self, command): # We extend this method to make sure command is always n-dimensional if self._mode != "independent": command = ( - th.tensor([command] * self.command_dim) + cb.array([command] * self.command_dim) if type(command) in {int, float} - else th.tensor([command[0]] * self.command_dim) + else cb.array([command[0]] * self.command_dim) ) # Flip the command if the direction is inverted. @@ -178,7 +176,7 @@ def compute_control(self, goal_dict, control_dict): ) else: # Use continuous signal. Make sure to go from command to control dim. - u = th.full((self.control_dim,), target[0]) if len(target) == 1 else target + u = cb.full((self.control_dim,), target[0]) if len(target) == 1 else target # If we're near the joint limits and we're using velocity / torque control, we zero out the action if self._motor_type in {"velocity", "torque"}: @@ -188,7 +186,7 @@ def compute_control(self, goal_dict, control_dict): violate_lower_limit = ( joint_pos < self._control_limits[ControlType.POSITION][0][self.dof_idx] + self._limit_tolerance ) - violation = th.logical_or(violate_upper_limit * (u > 0), violate_lower_limit * (u < 0)) + violation = cb.logical_or(violate_upper_limit * (u > 0), violate_lower_limit * (u < 0)) u *= ~violation # Update whether we're grasping or not @@ -209,7 +207,6 @@ def _update_grasping_state(self, control_dict): joint_velocity: Array of current joint velocities """ # Calculate grasping state based on mode of this controller - # Independent mode of MultiFingerGripperController does not have any good heuristics to determine is_grasping if self._mode == "independent": is_grasping = IsGraspingState.UNKNOWN @@ -219,7 +216,7 @@ def _update_grasping_state(self, control_dict): is_grasping = IsGraspingState.FALSE # Different values in the command for non-independent mode - cannot use heuristics - elif not th.all(self._control == self._control[0]): + elif not cb.all(self._control == self._control[0]): is_grasping = IsGraspingState.UNKNOWN # Joint position tolerance for is_grasping heuristics checking is smaller than or equal to the gripper @@ -231,11 +228,11 @@ def _update_grasping_state(self, control_dict): finger_pos = control_dict["joint_position"][self.dof_idx] # For joint position control, if the desired positions are the same as the current positions, is_grasping unknown - if self._motor_type == "position" and th.mean(th.abs(finger_pos - self._control)) < m.POS_TOLERANCE: + if self._motor_type == "position" and cb.abs(finger_pos - self._control).mean() < m.POS_TOLERANCE: is_grasping = IsGraspingState.UNKNOWN # For joint velocity / torque control, if the desired velocities / torques are zeros, is_grasping unknown - elif self._motor_type in {"velocity", "torque"} and th.mean(th.abs(self._control)) < m.VEL_TOLERANCE: + elif self._motor_type in {"velocity", "torque"} and cb.abs(self._control).mean() < m.VEL_TOLERANCE: is_grasping = IsGraspingState.UNKNOWN # Otherwise, the last control signal intends to "move" the gripper @@ -245,7 +242,7 @@ def _update_grasping_state(self, control_dict): max_pos = self._control_limits[ControlType.POSITION][1][self.dof_idx] # Make sure we don't have any invalid values (i.e.: fingers should be within the limits) - finger_pos = th.clip(finger_pos, min_pos, max_pos) + finger_pos = finger_pos.clip(min_pos, max_pos) # Check distance from both ends of the joint limits dist_from_lower_limit = finger_pos - min_pos @@ -253,12 +250,12 @@ def _update_grasping_state(self, control_dict): # If the joint positions are not near the joint limits with some tolerance (m.POS_TOLERANCE) valid_grasp_pos = ( - th.mean(dist_from_lower_limit) > m.POS_TOLERANCE - and th.mean(dist_from_upper_limit) > m.POS_TOLERANCE + dist_from_lower_limit.mean() > m.POS_TOLERANCE + and dist_from_upper_limit.mean() > m.POS_TOLERANCE ) # And the joint velocities are close to zero with some tolerance (m.VEL_TOLERANCE) - valid_grasp_vel = th.all(th.abs(finger_vel) < m.VEL_TOLERANCE) + valid_grasp_vel = cb.all(cb.abs(finger_vel) < m.VEL_TOLERANCE) # Then the gripper is grasping something, which stops the gripper from reaching its desired state is_grasping = IsGraspingState.TRUE if valid_grasp_pos and valid_grasp_vel else IsGraspingState.FALSE @@ -268,7 +265,7 @@ def _update_grasping_state(self, control_dict): def compute_no_op_goal(self, control_dict): # Just use a zero vector - return dict(target=th.zeros(self.command_dim)) + return dict(target=cb.zeros(self.command_dim)) def _compute_no_op_action(self, control_dict): # Take care of the special case of binary control @@ -276,18 +273,18 @@ def _compute_no_op_action(self, control_dict): command_val = -1 if self.is_grasping() == IsGraspingState.TRUE else 1 if self._inverted: command_val = -1 * command_val - return th.tensor([command_val], dtype=th.float32) + return cb.array([command_val]) if self._motor_type == "position": command = control_dict[f"joint_position"][self.dof_idx] elif self._motor_type == "velocity": - command = th.zeros(self.command_dim) + command = cb.zeros(self.command_dim) else: raise ValueError("Cannot compute noop action for effort motor type.") # Convert to binary / smooth mode if necessary if self._mode == "smooth": - command = th.mean(command, dim=-1, keepdim=True) + command = cb.mean(command, dim=-1, keepdim=True) return command diff --git a/omnigibson/controllers/null_joint_controller.py b/omnigibson/controllers/null_joint_controller.py index 4c92cbf9a..eea678a0a 100644 --- a/omnigibson/controllers/null_joint_controller.py +++ b/omnigibson/controllers/null_joint_controller.py @@ -1,5 +1,4 @@ -import torch as th - +from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.controllers import JointController @@ -58,7 +57,7 @@ def __init__( applied """ # Store values - self._default_command = th.zeros(len(dof_idx)) if default_command is None else default_command + self._default_command = cb.zeros(len(dof_idx)) if default_command is None else default_command # Run super init super().__init__( @@ -81,7 +80,7 @@ def compute_no_op_goal(self, control_dict): def _preprocess_command(self, command): # Override super and force the processed command to be internal stored default value - return th.tensor(self._default_command) + return cb.array(self._default_command) def update_default_goal(self, target): """ @@ -95,4 +94,4 @@ def update_default_goal(self, target): len(target) == self.control_dim ), f"Default control must be length: {self.control_dim}, got length: {len(target)}" - self._default_command = th.tensor(target) + self._default_command = cb.array(target) diff --git a/omnigibson/controllers/osc_controller.py b/omnigibson/controllers/osc_controller.py index 01515fc3e..539a89bef 100644 --- a/omnigibson/controllers/osc_controller.py +++ b/omnigibson/controllers/osc_controller.py @@ -1,12 +1,10 @@ import math -import torch as th - -import omnigibson.utils.transform_utils as T +from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerTorchBackend, _ControllerNumpyBackend +from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.controllers import ControlType, ManipulationController -from omnigibson.utils.control_utils import orientation_error from omnigibson.utils.processing_utils import MovingAverageFilter -from omnigibson.utils.python_utils import assert_valid_key, nums2array +from omnigibson.utils.python_utils import assert_valid_key from omnigibson.utils.ui_utils import create_module_logger # Create module logger @@ -144,13 +142,13 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D ) # Store gains - self.kp = nums2array(nums=kp, dim=6, dtype=th.float32) if kp is not None else None + self.kp = self.nums2array(nums=kp, dim=6) if kp is not None else None self.damping_ratio = damping_ratio - self.kp_null = nums2array(nums=kp_null, dim=control_dim, dtype=th.float32) if kp_null is not None else None - self.kd_null = 2 * th.sqrt(self.kp_null) if kp_null is not None else None # critically damped - self.kp_limits = th.tensor(kp_limits, dtype=th.float32) - self.damping_ratio_limits = th.tensor(damping_ratio_limits, dtype=th.float32) - self.kp_null_limits = th.tensor(kp_null_limits, dtype=th.float32) + self.kp_null = self.nums2array(nums=kp_null, dim=control_dim) if kp_null is not None else None + self.kd_null = 2 * cb.sqrt(self.kp_null) if kp_null is not None else None # critically damped + self.kp_limits = cb.array(kp_limits) + self.damping_ratio_limits = cb.array(damping_ratio_limits) + self.kp_null_limits = cb.array(kp_null_limits) # Store settings for whether we're learning gains or not self.variable_kp = self.kp is None @@ -199,12 +197,12 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D is_input_limits_numeric = not (command_input_limits is None or isinstance(command_input_limits, str)) is_output_limits_numeric = not (command_output_limits is None or isinstance(command_output_limits, str)) command_input_limits = ( - [nums2array(lim, dim=6, dtype=th.float32) for lim in command_input_limits] + [self.nums2array(lim, dim=6) for lim in command_input_limits] if is_input_limits_numeric else command_input_limits ) command_output_limits = ( - [nums2array(lim, dim=6, dtype=th.float32) for lim in command_output_limits] + [self.nums2array(lim, dim=6) for lim in command_output_limits] if is_output_limits_numeric else command_output_limits ) @@ -220,12 +218,12 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D # Add this to input / output limits if is_input_limits_numeric: command_input_limits = [ - th.cat([lim, nums2array(nums=val, dim=dim, dtype=th.float32)]) + cb.cat([lim, self.nums2array(nums=val, dim=dim)]) for lim, val in zip(command_input_limits, (-1, 1)) ] if is_output_limits_numeric: command_output_limits = [ - th.cat([lim, nums2array(nums=val, dim=dim, dtype=th.float32)]) + cb.cat([lim, self.nums2array(nums=val, dim=dim)]) for lim, val in zip(command_output_limits, gain_limits) ] # Update command dim @@ -293,7 +291,7 @@ def _update_variable_gains(self, gains): idx += 6 if self.variable_kp_null: self.kp_null = gains[:, idx : idx + self.control_dim] - self.kd_null = 2 * th.sqrt(self.kp_null) # critically damped + self.kd_null = 2 * cb.sqrt(self.kp_null) # critically damped idx += self.control_dim def _update_goal(self, command, control_dict): @@ -315,8 +313,8 @@ def _update_goal(self, command, control_dict): frame to control, computed in its local frame (e.g.: robot base frame) """ # Grab important info from control dict - pos_relative = control_dict[f"{self.task_name}_pos_relative"].clone() - quat_relative = control_dict[f"{self.task_name}_quat_relative"].clone() + pos_relative = cb.copy(control_dict[f"{self.task_name}_pos_relative"]) + quat_relative = cb.copy(control_dict[f"{self.task_name}_quat_relative"]) # Convert position command to absolute values if needed if self.mode == "absolute_pose": @@ -336,11 +334,11 @@ def _update_goal(self, command, control_dict): target_quat = quat_relative elif self.mode == "pose_absolute_ori" or self.mode == "absolute_pose": # Received "delta" ori is in fact the desired absolute orientation - target_quat = T.axisangle2quat(command[3:6]) + target_quat = cb.T.axisangle2quat(command[3:6]) else: # pose_delta_ori control # Grab dori and compute target ori - dori = T.quat2mat(T.axisangle2quat(command[3:6])) - target_quat = T.mat2quat(dori @ T.quat2mat(quat_relative)) + dori = cb.T.quat2mat(cb.T.axisangle2quat(command[3:6])) + target_quat = cb.T.mat2quat(dori @ cb.T.quat2mat(quat_relative)) # Possibly limit to workspace if specified if self.workspace_pose_limiter is not None: @@ -352,8 +350,8 @@ def _update_goal(self, command, control_dict): # Set goals and return return dict( - target_pos=target_pos, - target_ori_mat=T.quat2mat(target_quat), + target_pos=cb.as_float32(target_pos), + target_ori_mat=cb.as_float32(cb.T.quat2mat(target_quat)), ) def compute_control(self, goal_dict, control_dict): @@ -389,31 +387,32 @@ def compute_control(self, goal_dict, control_dict): # For now, always use internal values kp = self.kp damping_ratio = self.damping_ratio - kd = 2 * th.sqrt(kp) * damping_ratio + kd = 2 * cb.sqrt(kp) * damping_ratio # Extract relevant values from the control dict - dof_idxs_mat = tuple(th.meshgrid(self.dof_idx, self.dof_idx)) + dof_idxs_mat = tuple(cb.meshgrid(self.dof_idx, self.dof_idx)) q = control_dict["joint_position"][self.dof_idx] qd = control_dict["joint_velocity"][self.dof_idx] mm = control_dict["mass_matrix"][dof_idxs_mat] j_eef = control_dict[f"{self.task_name}_jacobian_relative"][:, self.dof_idx] ee_pos = control_dict[f"{self.task_name}_pos_relative"] ee_quat = control_dict[f"{self.task_name}_quat_relative"] - ee_vel = th.cat( + ee_vel = cb.cat( [control_dict[f"{self.task_name}_lin_vel_relative"], control_dict[f"{self.task_name}_ang_vel_relative"]] ) base_lin_vel = control_dict["root_rel_lin_vel"] base_ang_vel = control_dict["root_rel_ang_vel"] # Calculate torques - u = _compute_osc_torques( + u = cb.compute_osc_torques( q=q, qd=qd, mm=mm, j_eef=j_eef, - ee_pos=ee_pos, - ee_mat=T.quat2mat(ee_quat), - ee_vel=ee_vel, + ee_pos=cb.as_float32(ee_pos), + ee_mat=cb.as_float32(cb.T.quat2mat(ee_quat)), + ee_lin_vel=cb.as_float32(ee_vel[:3]), + ee_ang_vel_err=cb.as_float32(cb.T.quat2axisangle(cb.T.quat_multiply(cb.T.axisangle2quat(-ee_vel[3:]), cb.T.axisangle2quat(base_ang_vel)))), goal_pos=goal_dict["target_pos"], goal_ori_mat=goal_dict["target_ori_mat"], kp=kp, @@ -423,8 +422,8 @@ def compute_control(self, goal_dict, control_dict): rest_qpos=self.reset_joint_pos, control_dim=self.control_dim, decouple_pos_ori=self.decouple_pos_ori, - base_lin_vel=base_lin_vel, - base_ang_vel=base_ang_vel, + base_lin_vel=cb.as_float32(base_lin_vel), + base_ang_vel=cb.as_float32(base_ang_vel), ).flatten() # Add gravity compensation @@ -440,20 +439,20 @@ def compute_control(self, goal_dict, control_dict): def compute_no_op_goal(self, control_dict): # No-op is maintaining current pose - target_pos = control_dict[f"{self.task_name}_pos_relative"].clone() - target_quat = control_dict[f"{self.task_name}_quat_relative"].clone() + target_pos = cb.copy(control_dict[f"{self.task_name}_pos_relative"]) + target_quat = cb.copy(control_dict[f"{self.task_name}_quat_relative"]) # Convert quat into eef ori mat return dict( - target_pos=target_pos, - target_ori_mat=T.quat2mat(target_quat), + target_pos=cb.as_float32(target_pos), + target_ori_mat=cb.as_float32(cb.T.quat2mat(target_quat)), ) def _compute_no_op_action(self, control_dict): pos_relative = control_dict[f"{self.task_name}_pos_relative"] quat_relative = control_dict[f"{self.task_name}_quat_relative"] - command = th.zeros(6, dtype=th.float32, device=pos_relative.device) + command = cb.zeros(6) # Handle position if self.mode == "absolute_pose": @@ -464,7 +463,7 @@ def _compute_no_op_action(self, control_dict): # Handle orientation if self.mode in ("pose_absolute_ori", "absolute_pose"): - command[3:] = T.quat2axisangle(quat_relative) + command[3:] = cb.T.quat2axisangle(quat_relative) else: # For these modes, we don't need to add orientation to the command pass @@ -486,15 +485,18 @@ def command_dim(self): return self._command_dim +import torch as th +import omnigibson.utils.transform_utils as TT @th.jit.script -def _compute_osc_torques( +def _compute_osc_torques_torch( q: th.Tensor, qd: th.Tensor, mm: th.Tensor, j_eef: th.Tensor, ee_pos: th.Tensor, ee_mat: th.Tensor, - ee_vel: th.Tensor, + ee_lin_vel: th.Tensor, + ee_ang_vel_err: th.Tensor, goal_pos: th.Tensor, goal_ori_mat: th.Tensor, kp: th.Tensor, @@ -512,7 +514,7 @@ def _compute_osc_torques( # Calculate error pos_err = goal_pos - ee_pos - ori_err = orientation_error(goal_ori_mat, ee_mat) + ori_err = TT.orientation_error(goal_ori_mat, ee_mat) err = th.cat((pos_err, ori_err)) # Vel target is the base velocity as experienced by the end effector @@ -521,9 +523,8 @@ def _compute_osc_torques( # due to the base linear velocity # For angular velocity, we need to make sure we compute the difference between the base and eef velocity # properly, not simply "subtraction" as in the linear case - lin_vel_err = base_lin_vel + th.linalg.cross(base_ang_vel, ee_pos) - ee_vel[:3] - ang_vel_err = T.quat2axisangle(T.quat_multiply(T.axisangle2quat(-ee_vel[3:]), T.axisangle2quat(base_ang_vel))) - vel_err = th.cat((lin_vel_err, ang_vel_err)) + lin_vel_err = base_lin_vel + th.linalg.cross(base_ang_vel, ee_pos) - ee_lin_vel + vel_err = th.cat((lin_vel_err, ee_ang_vel_err)) # Determine desired wrench err = th.unsqueeze(kp * err + kd * vel_err, dim=-1) @@ -559,3 +560,88 @@ def _compute_osc_torques( u += (th.eye(control_dim, dtype=th.float32) - j_eef.T @ j_eef_inv) @ u_null return u + + +import numpy as np +from numba import jit +import omnigibson.utils.transform_utils_np as NT +# Use numba since faster +@jit(nopython=True) +def _compute_osc_torques_numpy( + q, + qd, + mm, + j_eef, + ee_pos, + ee_mat, + ee_lin_vel, + ee_ang_vel_err, + goal_pos, + goal_ori_mat, + kp, + kd, + kp_null, + kd_null, + rest_qpos, + control_dim, + decouple_pos_ori, + base_lin_vel, + base_ang_vel, +): + # Compute the inverse + mm_inv = np.linalg.inv(mm) + + # Calculate error + pos_err = goal_pos - ee_pos + ori_err = NT.orientation_error(goal_ori_mat, ee_mat).astype(np.float32) + err = np.concatenate((pos_err, ori_err)) + + # Vel target is the base velocity as experienced by the end effector + # For angular velocity, this is just the base angular velocity + # For linear velocity, this is the base linear velocity PLUS the net linear velocity experienced + # due to the base linear velocity + # For angular velocity, we need to make sure we compute the difference between the base and eef velocity + # properly, not simply "subtraction" as in the linear case + lin_vel_err = base_lin_vel + np.cross(base_ang_vel, ee_pos) - ee_lin_vel + vel_err = np.concatenate((lin_vel_err, ee_ang_vel_err)) + + # Determine desired wrench + err = np.expand_dims(kp * err + kd * vel_err, axis=-1) + m_eef_inv = j_eef @ mm_inv @ j_eef.T + m_eef = np.linalg.inv(m_eef_inv) + + if decouple_pos_ori: + # # More efficient, but numba doesn't support 3D tensor operations yet + # j_eef_batch = j_eef.reshape(2, 3, -1) + # m_eef_pose_inv = np.matmul(np.matmul(j_eef_batch, np.expand_dims(mm_inv, axis=0)), np.transpose(j_eef_batch, (0, 2, 1))) + # m_eef_pose = np.linalg.inv(m_eef_pose_inv) # Shape (2, 3, 3) + # wrench = np.matmul(m_eef_pose, err.reshape(2, 3, 1)).flatten() + m_eef_pos_inv = j_eef[:3, :] @ mm_inv @ j_eef[:3, :].T + m_eef_ori_inv = j_eef[3:, :] @ mm_inv @ j_eef[3:, :].T + m_eef_pos = np.linalg.inv(m_eef_pos_inv) + m_eef_ori = np.linalg.inv(m_eef_ori_inv) + wrench_pos = m_eef_pos @ err[:3, :] + wrench_ori = m_eef_ori @ err[3:, :] + wrench = np.concatenate((wrench_pos, wrench_ori)) + else: + wrench = m_eef @ err + + # Compute OSC torques + u = j_eef.T @ wrench + + # Nullspace control torques `u_null` prevents large changes in joint configuration + # They are added into the nullspace of OSC so that the end effector orientation remains constant + # roboticsproceedings.org/rss07/p31.pdf + if rest_qpos is not None: + j_eef_inv = m_eef @ j_eef @ mm_inv + u_null = kd_null * -qd + kp_null * ((rest_qpos - q + np.pi) % (2 * np.pi) - np.pi) + u_null = mm @ np.expand_dims(u_null, axis=-1).astype(np.float32) + u += (np.eye(control_dim, dtype=np.float32) - j_eef.T @ j_eef_inv) @ u_null + + return u + + +# Set these as part of the backend values +setattr(_ControllerBackend, "compute_osc_torques", None) +setattr(_ControllerTorchBackend, "compute_osc_torques", _compute_osc_torques_torch) +setattr(_ControllerNumpyBackend, "compute_osc_torques", _compute_osc_torques_numpy) diff --git a/omnigibson/macros.py b/omnigibson/macros.py index de90df920..852f9c7a7 100644 --- a/omnigibson/macros.py +++ b/omnigibson/macros.py @@ -79,6 +79,10 @@ def determine_gm_path(default_path, env_var_name): gm.HTTP_PORT = os.getenv("OMNIGIBSON_HTTP_PORT", 8211) gm.WEBRTC_PORT = os.getenv("OMNIGIBSON_WEBRTC_PORT", 49100) +# Whether to use numpy or torch controller backend. Numpy is significantly faster and should be used +# for single-threaded (i.e.: non-large scale parallelized env) purposes +gm.USE_NUMPY_CONTROLLER_BACKEND = True + # Whether only the viewport should be shown in the GUI or not (if not, other peripherals are additionally shown) # CANNOT be set at runtime gm.GUI_VIEWPORT_ONLY = False diff --git a/omnigibson/objects/controllable_object.py b/omnigibson/objects/controllable_object.py index 8feb77008..a47d50f5f 100644 --- a/omnigibson/objects/controllable_object.py +++ b/omnigibson/objects/controllable_object.py @@ -10,6 +10,7 @@ import omnigibson as og from omnigibson.controllers import create_controller from omnigibson.controllers.controller_base import ControlType +from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.objects.object_base import BaseObject from omnigibson.utils.constants import JointType, PrimType from omnigibson.utils.numpy_utils import NumpyTypes @@ -277,7 +278,7 @@ def _load_controllers(self): cfg["command_input_limits"] = "default" # default is normalized (-1, 1) # Create the controller - controller = create_controller(**cfg) + controller = create_controller(**cb.from_torch_recursive(cfg)) # Verify the controller's DOFs can all be driven for idx in controller.dof_idx: assert self._joints[ @@ -409,8 +410,8 @@ def _create_continuous_action_space(self): return gym.spaces.Box( shape=(self.action_dim,), - low=th.cat(low).cpu().numpy(), - high=th.cat(high).cpu().numpy(), + low=cb.to_numpy(cb.cat(low)), + high=cb.to_numpy(cb.cat(high)), dtype=NumpyTypes.FLOAT32, ) @@ -441,6 +442,9 @@ def apply_action(self, action): self.action_dim, len(action) ) + # Convert action from torch if necessary + action = cb.from_torch(action) + # First, loop over all controllers, and update the desired command idx = 0 @@ -488,9 +492,9 @@ def step(self): idx += controller.command_dim # Compose controls - u_vec = th.zeros(self.n_dof) + u_vec = cb.zeros(self.n_dof) # By default, the control type is None and the control value is 0 (th.zeros) - i.e. no control applied - u_type_vec = th.tensor([ControlType.NONE] * self.n_dof) + u_type_vec = cb.array([ControlType.NONE] * self.n_dof) for group, ctrl in control.items(): idx = self._controllers[group].dof_idx u_vec[idx] = ctrl["value"] @@ -549,9 +553,12 @@ def deploy_control(self, control, control_type): """ # Run sanity check assert len(control) == len(control_type) == self.n_dof, ( - "Control signals, control types, and number of DOF should all be the same!" - "Got {}, {}, and {} respectively.".format(len(control), len(control_type), self.n_dof) + f"Control signals, control types, and number of DOF should all be the same!" + f"Got {len(control)}, {len(control_type)}, and {self.n_dof} respectively." ) + # Cast control type to numpy to avoid having to call .item() individually on torch tensors + control_type = cb.to_numpy(control_type) + # Set indices manually so that we're standardized indices = range(self.n_dof) @@ -561,9 +568,24 @@ def deploy_control(self, control, control_type): # Loop through controls and deploy # We have to use delicate logic to account for the edge cases where a single joint may contain > 1 DOF # (e.g.: spherical joint) - pos_vec, pos_idxs, using_pos = [], [], False - vel_vec, vel_idxs, using_vel = [], [], False - eff_vec, eff_idxs, using_eff = [], [], False + ctrl_to_execute = { + ControlType.EFFORT: { + "vals": [], + "idxs": [], + }, + ControlType.POSITION: { + "vals": [], + "idxs": [], + }, + ControlType.VELOCITY: { + "vals": [], + "idxs": [], + }, + ControlType.NONE: { + "vals": [], + "idxs": [], + }, + } cur_indices_idx = 0 while cur_indices_idx != n_indices: # Grab the current DOF index we're controlling and find the corresponding joint @@ -596,40 +618,29 @@ def deploy_control(self, control, control_type): ctrl_type = control_type[ cur_ctrl_idx ] # In multi-DOF joint case all values were already checked to be the same - if ctrl_type == ControlType.EFFORT: - eff_vec.append(ctrl) - eff_idxs.append(cur_ctrl_idx) - using_eff = True - elif ctrl_type == ControlType.VELOCITY: - vel_vec.append(ctrl) - vel_idxs.append(cur_ctrl_idx) - using_vel = True - elif ctrl_type == ControlType.POSITION: - pos_vec.append(ctrl) - pos_idxs.append(cur_ctrl_idx) - using_pos = True - elif ctrl_type == ControlType.NONE: - # Set zero efforts - eff_vec.append(0) - eff_idxs.append(cur_ctrl_idx) - using_eff = True - else: - raise ValueError("Invalid control type specified: {}".format(ctrl_type)) + ctrl_to_execute[ctrl_type]["vals"].append(ctrl) + ctrl_to_execute[ctrl_type]["idxs"].append(cur_ctrl_idx) # Finally, increment the current index based on how many DOFs were just controlled cur_indices_idx += joint_dof # set the targets for joints - if using_pos: + if len(ctrl_to_execute[ControlType.POSITION]) > 0: ControllableObjectViewAPI.set_joint_position_targets( - self.articulation_root_path, positions=th.tensor(pos_vec, dtype=th.float), indices=th.tensor(pos_idxs) + self.articulation_root_path, + positions=cb.array(ctrl_to_execute[ControlType.POSITION]["vals"]), + indices=cb.int_array(ctrl_to_execute[ControlType.POSITION]["idxs"]), ) - if using_vel: + if len(ctrl_to_execute[ControlType.VELOCITY]) > 0: ControllableObjectViewAPI.set_joint_velocity_targets( - self.articulation_root_path, velocities=th.tensor(vel_vec, dtype=th.float), indices=th.tensor(vel_idxs) + self.articulation_root_path, + velocities=cb.array(ctrl_to_execute[ControlType.VELOCITY]["vals"]), + indices=cb.int_array(ctrl_to_execute[ControlType.VELOCITY]["idxs"]), ) - if using_eff: + if len(ctrl_to_execute[ControlType.VELOCITY]) > 0 or len(ctrl_to_execute[ControlType.NONE]) > 0: ControllableObjectViewAPI.set_joint_efforts( - self.articulation_root_path, efforts=th.tensor(eff_vec, dtype=th.float), indices=th.tensor(eff_idxs) + self.articulation_root_path, + efforts=cb.cat([cb.array(ctrl_to_execute[ControlType.EFFORT]["vals"]), cb.array(ctrl_to_execute[ControlType.NONE]["vals"])]), + indices=cb.cat([cb.int_array(ctrl_to_execute[ControlType.EFFORT]["idxs"]), cb.int_array(ctrl_to_execute[ControlType.NONE]["idxs"])]), ) def get_control_dict(self): @@ -756,9 +767,9 @@ def serialize(self, state): state_flat = super().serialize(state=state) # Serialize the controller states sequentially - controller_states_flat = th.cat( + controller_states_flat = cb.to_torch(cb.cat( [c.serialize(state=state["controllers"][c_name]) for c_name, c in self._controllers.items()] - ) + )) # Concatenate and return return th.cat([state_flat, controller_states_flat]) @@ -770,7 +781,7 @@ def deserialize(self, state): # Deserialize the controller states sequentially controller_states = dict() for c_name, c in self._controllers.items(): - controller_states[c_name], deserialized_items = c.deserialize(state=state[idx:]) + controller_states[c_name], deserialized_items = c.deserialize(state=cb.from_torch(state[idx:])) idx += deserialized_items state_dict["controllers"] = controller_states diff --git a/omnigibson/robots/holonomic_base_robot.py b/omnigibson/robots/holonomic_base_robot.py index 7aa506108..1174d9197 100644 --- a/omnigibson/robots/holonomic_base_robot.py +++ b/omnigibson/robots/holonomic_base_robot.py @@ -6,10 +6,12 @@ import omnigibson as og import omnigibson.lazy as lazy -import omnigibson.utils.transform_utils as T +from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.macros import create_module_macros from omnigibson.robots.locomotion_robot import LocomotionRobot +from omnigibson.robots.manipulation_robot import ManipulationRobot from omnigibson.utils.python_utils import classproperty +from omnigibson.utils.usd_utils import ControllableObjectViewAPI m = create_module_macros(module_path=__file__) m.MAX_LINEAR_VELOCITY = 1.5 # linear velocity in meters/second @@ -249,10 +251,11 @@ def set_position_orientation(self, position=None, orientation=None, frame: Liter # ("base_footprint_x") frame. Assign it to the 6 1DoF joints that control the base. # Note that the 6 1DoF joints are originated from the root_link ("base_footprint_x") frame. joint_pos, joint_orn = self.root_link.get_position_orientation() - inv_joint_pos, inv_joint_orn = T.mat2pose(T.pose_inv(T.pose2mat((joint_pos, joint_orn)))) + joint_pos, joint_orn = cb.from_torch(joint_pos), cb.from_torch(joint_orn) + inv_joint_pos, inv_joint_orn = cb.T.mat2pose(cb.T.pose_inv(cb.T.pose2mat((joint_pos, joint_orn)))) - relative_pos, relative_orn = T.pose_transform(inv_joint_pos, inv_joint_orn, position, orientation) - relative_rpy = T.quat2euler(relative_orn) + relative_pos, relative_orn = cb.T.pose_transform(inv_joint_pos, inv_joint_orn, position, orientation) + relative_rpy = cb.T.quat2euler(relative_orn) self.joints["base_footprint_x_joint"].set_pos(relative_pos[0], drive=False) self.joints["base_footprint_y_joint"].set_pos(relative_pos[1], drive=False) self.joints["base_footprint_z_joint"].set_pos(relative_pos[2], drive=False) @@ -275,8 +278,8 @@ def set_linear_velocity(self, velocity: th.Tensor): # Transform the desired linear velocity from the world frame to the root_link ("base_footprint_x") frame # Note that this will also set the target to be the desired linear velocity (i.e. the robot will try to maintain # such velocity), which is different from the default behavior of set_linear_velocity for all other objects. - orn = self.root_link.get_position_orientation()[1] - velocity_in_root_link = T.quat2mat(orn).T @ velocity + orn = cb.from_torch(self.root_link.get_position_orientation()[1]) + velocity_in_root_link = cb.T.quat2mat(orn).T @ cb.from_torch(velocity) self.joints["base_footprint_x_joint"].set_vel(velocity_in_root_link[0], drive=False) self.joints["base_footprint_y_joint"].set_vel(velocity_in_root_link[1], drive=False) self.joints["base_footprint_z_joint"].set_vel(velocity_in_root_link[2], drive=False) @@ -287,8 +290,8 @@ def get_linear_velocity(self) -> th.Tensor: def set_angular_velocity(self, velocity: th.Tensor) -> None: # See comments of self.set_linear_velocity - orn = self.root_link.get_position_orientation()[1] - velocity_in_root_link = T.quat2mat(orn).T @ velocity + orn = cb.from_torch(self.root_link.get_position_orientation()[1]) + velocity_in_root_link = cb.T.quat2mat(orn).T @ cb.from_torch(velocity) self.joints["base_footprint_rx_joint"].set_vel(velocity_in_root_link[0], drive=False) self.joints["base_footprint_ry_joint"].set_vel(velocity_in_root_link[1], drive=False) self.joints["base_footprint_rz_joint"].set_vel(velocity_in_root_link[2], drive=False) @@ -302,23 +305,23 @@ def _postprocess_control(self, control, control_type): u_vec, u_type_vec = super()._postprocess_control(control=control, control_type=control_type) # Change the control from base_footprint_link ("base_footprint") frame to root_link ("base_footprint_x") frame - base_orn = self.base_footprint_link.get_position_orientation()[1] - root_link_orn = self.root_link.get_position_orientation()[1] + base_orn = ControllableObjectViewAPI.get_position_orientation(self.articulation_root_path)[1] + root_link_orn = ControllableObjectViewAPI.get_root_position_orientation(self.articulation_root_path)[1] - cur_orn_mat = T.quat2mat(root_link_orn).T @ T.quat2mat(base_orn) - cur_pose = th.zeros((2, 4, 4)) + cur_orn_mat = cb.T.quat2mat(root_link_orn).T @ cb.T.quat2mat(base_orn) + cur_pose = cb.zeros((2, 4, 4)) cur_pose[:, :3, :3] = cur_orn_mat cur_pose[:, 3, 3] = 1.0 - local_pose = th.zeros((2, 4, 4)) - local_pose[:] = th.eye(4) - local_pose[:, :3, 3] = u_vec[self.base_idx].view(2, 3) + local_pose = cb.zeros((2, 4, 4)) + local_pose[:] = cb.eye(4) + local_pose[:, :3, 3] = cb.view(u_vec[cb.from_torch(self.base_idx)], (2, 3)) # Rotate the linear and angular velocity to the desired frame global_pose = cur_pose @ local_pose lin_vel_global, ang_vel_global = global_pose[0, :3, 3], global_pose[1, :3, 3] - u_vec[self.base_control_idx] = th.tensor([lin_vel_global[0], lin_vel_global[1], ang_vel_global[2]]) + u_vec[cb.from_torch(self.base_control_idx)] = cb.array([lin_vel_global[0], lin_vel_global[1], ang_vel_global[2]]) return u_vec, u_type_vec diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py index ce06d7a21..17cf95dd7 100644 --- a/omnigibson/simulator.py +++ b/omnigibson/simulator.py @@ -239,6 +239,10 @@ def _launch_app(): # Loading Isaac Sim disables Ctrl+C, so we need to re-enable it signal.signal(signal.SIGINT, og.shutdown_handler) + # Set controller backend + import omnigibson.controllers.controller_base as CB + CB._controller_backend.set_methods(CB._ControllerNumpyBackend if gm.USE_NUMPY_CONTROLLER_BACKEND else CB._ControllerTorchBackend) + return app diff --git a/omnigibson/utils/control_utils.py b/omnigibson/utils/control_utils.py index 7585bbbb1..00350688b 100644 --- a/omnigibson/utils/control_utils.py +++ b/omnigibson/utils/control_utils.py @@ -138,33 +138,3 @@ def solve( return th.tensor(ik_results.cspace_position, dtype=th.float32) else: return None - - -@th.jit.script -def orientation_error(desired, current): - """ - This function calculates a 3-dimensional orientation error vector for use in the - impedance controller. It does this by computing the delta rotation between the - inputs and converting that rotation to exponential coordinates (axis-angle - representation, where the 3d vector is axis * angle). - See https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation for more information. - Optimized function to determine orientation error from matrices - - Args: - desired (tensor): (..., 3, 3) where final two dims are 2d array representing target orientation matrix - current (tensor): (..., 3, 3) where final two dims are 2d array representing current orientation matrix - Returns: - tensor: (..., 3) where final dim is (ax, ay, az) axis-angle representing orientation error - """ - # Compute batch size - batch_size = desired.numel() // 9 # Each 3x3 matrix has 9 elements - - desired_flat = desired.reshape(batch_size, 3, 3) - current_flat = current.reshape(batch_size, 3, 3) - - rc1, rc2, rc3 = current_flat[:, :, 0], current_flat[:, :, 1], current_flat[:, :, 2] - rd1, rd2, rd3 = desired_flat[:, :, 0], desired_flat[:, :, 1], desired_flat[:, :, 2] - - error = 0.5 * (th.linalg.cross(rc1, rd1) + th.linalg.cross(rc2, rd2) + th.linalg.cross(rc3, rd3)) - - return error.reshape(desired.shape[:-2] + (3,)) diff --git a/omnigibson/utils/python_utils.py b/omnigibson/utils/python_utils.py index ad6ed3d7f..f9c4c8a8a 100644 --- a/omnigibson/utils/python_utils.py +++ b/omnigibson/utils/python_utils.py @@ -783,6 +783,24 @@ def recursively_convert_to_torch(state): return state +def recursively_convert_from_torch(state): + # For all the lists in state dict, convert from torch tensor -> numpy array + import numpy as np + for key, value in state.items(): + if isinstance(value, dict): + state[key] = recursively_convert_from_torch(value) + elif isinstance(value, th.Tensor): + state[key] = value.cpu().numpy() + elif (isinstance(value, list) or isinstance(value, tuple)) and len(value) > 0: + if isinstance(value[0], dict): + state[key] = [recursively_convert_from_torch(val) for val in value] + elif isinstance(value[0], th.Tensor): + state[key] = [tensor.numpy() for tensor in value] + elif isinstance(value[0], int) or isinstance(value[0], float): + state[key] = np.array(value) + return state + + def h5py_group_to_torch(group): state = {} for key, value in group.items(): diff --git a/omnigibson/utils/transform_utils.py b/omnigibson/utils/transform_utils.py index fadbc0f6a..e4feba876 100644 --- a/omnigibson/utils/transform_utils.py +++ b/omnigibson/utils/transform_utils.py @@ -1362,3 +1362,34 @@ def quaternions_close(q1: torch.Tensor, q2: torch.Tensor, atol: float = 1e-3) -> Whether the quaternions are close """ return torch.allclose(q1, q2, atol=atol) or torch.allclose(q1, -q2, atol=atol) + + +@torch.compile +def orientation_error(desired, current): + """ + This function calculates a 3-dimensional orientation error vector for use in the + impedance controller. It does this by computing the delta rotation between the + inputs and converting that rotation to exponential coordinates (axis-angle + representation, where the 3d vector is axis * angle). + See https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation for more information. + Optimized function to determine orientation error from matrices + + Args: + desired (tensor): (..., 3, 3) where final two dims are 2d array representing target orientation matrix + current (tensor): (..., 3, 3) where final two dims are 2d array representing current orientation matrix + Returns: + tensor: (..., 3) where final dim is (ax, ay, az) axis-angle representing orientation error + """ + # Compute batch size + batch_size = desired.numel() // 9 # Each 3x3 matrix has 9 elements + + desired_flat = desired.reshape(batch_size, 3, 3) + current_flat = current.reshape(batch_size, 3, 3) + + rc1, rc2, rc3 = current_flat[:, :, 0], current_flat[:, :, 1], current_flat[:, :, 2] + rd1, rd2, rd3 = desired_flat[:, :, 0], desired_flat[:, :, 1], desired_flat[:, :, 2] + + error = 0.5 * (torch.linalg.cross(rc1, rd1) + torch.linalg.cross(rc2, rd2) + torch.linalg.cross(rc3, rd3)) + + return error.reshape(desired.shape[:-2] + (3,)) + diff --git a/omnigibson/utils/transform_utils_np.py b/omnigibson/utils/transform_utils_np.py new file mode 100644 index 000000000..8c5942985 --- /dev/null +++ b/omnigibson/utils/transform_utils_np.py @@ -0,0 +1,1229 @@ +""" +Utility functions of matrix and vector transformations. + +NOTE: convention for quaternions is (x, y, z, w) +""" + +import math + +import numpy as np +from numba import jit +from scipy.spatial.transform import Rotation as R + +PI = np.pi +EPS = np.finfo(float).eps * 4.0 + +# axis sequences for Euler angles +_NEXT_AXIS = [1, 2, 0, 1] + +# map axes strings to/from tuples of inner axis, parity, repetition, frame +_AXES2TUPLE = { + "sxyz": (0, 0, 0, 0), + "sxyx": (0, 0, 1, 0), + "sxzy": (0, 1, 0, 0), + "sxzx": (0, 1, 1, 0), + "syzx": (1, 0, 0, 0), + "syzy": (1, 0, 1, 0), + "syxz": (1, 1, 0, 0), + "syxy": (1, 1, 1, 0), + "szxy": (2, 0, 0, 0), + "szxz": (2, 0, 1, 0), + "szyx": (2, 1, 0, 0), + "szyz": (2, 1, 1, 0), + "rzyx": (0, 0, 0, 1), + "rxyx": (0, 0, 1, 1), + "ryzx": (0, 1, 0, 1), + "rxzx": (0, 1, 1, 1), + "rxzy": (1, 0, 0, 1), + "ryzy": (1, 0, 1, 1), + "rzxy": (1, 1, 0, 1), + "ryxy": (1, 1, 1, 1), + "ryxz": (2, 0, 0, 1), + "rzxz": (2, 0, 1, 1), + "rxyz": (2, 1, 0, 1), + "rzyz": (2, 1, 1, 1), +} + +_TUPLE2AXES = dict((v, k) for k, v in _AXES2TUPLE.items()) + + +def ewma_vectorized(data, alpha, offset=None, dtype=None, order="C", out=None): + """ + Calculates the exponential moving average over a vector. + Will fail for large inputs. + + Args: + data (Iterable): Input data + alpha (float): scalar in range (0,1) + The alpha parameter for the moving average. + offset (None or float): If specified, the offset for the moving average. None defaults to data[0]. + dtype (None or type): Data type used for calculations. If None, defaults to float64 unless + data.dtype is float32, then it will use float32. + order (None or str): Order to use when flattening the data. Valid options are {'C', 'F', 'A'}. + None defaults to 'C'. + out (None or np.array): If specified, the location into which the result is stored. If provided, it must have + the same shape as the input. If not provided or `None`, + a freshly-allocated array is returned. + + Returns: + np.array: Exponential moving average from @data + """ + data = np.array(data, copy=False) + + if dtype is None: + if data.dtype == np.float32: + dtype = np.float32 + else: + dtype = np.float64 + else: + dtype = np.dtype(dtype) + + if data.ndim > 1: + # flatten input + data = data.reshape(-1, order) + + if out is None: + out = np.empty_like(data, dtype=dtype) + else: + assert out.shape == data.shape + assert out.dtype == dtype + + if data.size < 1: + # empty input, return empty array + return out + + if offset is None: + offset = data[0] + + alpha = np.array(alpha, copy=False).astype(dtype, copy=False) + + # scaling_factors -> 0 as len(data) gets large + # this leads to divide-by-zeros below + scaling_factors = np.power(1.0 - alpha, np.arange(data.size + 1, dtype=dtype), dtype=dtype) + # create cumulative sum array + np.multiply(data, (alpha * scaling_factors[-2]) / scaling_factors[:-1], dtype=dtype, out=out) + np.cumsum(out, dtype=dtype, out=out) + + # cumsums / scaling + out /= scaling_factors[-2::-1] + + if offset != 0: + offset = np.array(offset, copy=False).astype(dtype, copy=False) + # add offsets + out += offset * scaling_factors[1:] + + return out + + +def convert_quat(q, to="xyzw"): + """ + Converts quaternion from one convention to another. + The convention to convert TO is specified as an optional argument. + If to == 'xyzw', then the input is in 'wxyz' format, and vice-versa. + + Args: + q (np.array): a 4-dim array corresponding to a quaternion + to (str): either 'xyzw' or 'wxyz', determining which convention to convert to. + """ + if to == "xyzw": + return q[[1, 2, 3, 0]] + if to == "wxyz": + return q[[3, 0, 1, 2]] + raise Exception("convert_quat: choose a valid `to` argument (xyzw or wxyz)") + + +@jit(nopython=True) +def quat_multiply(quaternion1, quaternion0): + """ + Return multiplication of two quaternions (q1 * q0). + + E.g.: + >>> q = quat_multiply([1, -2, 3, 4], [-5, 6, 7, 8]) + >>> np.allclose(q, [-44, -14, 48, 28]) + True + + Args: + quaternion1 (np.array): (x,y,z,w) quaternion + quaternion0 (np.array): (x,y,z,w) quaternion + + Returns: + np.array: (x,y,z,w) multiplied quaternion + """ + x0, y0, z0, w0 = quaternion0 + x1, y1, z1, w1 = quaternion1 + return np.array( + ( + x1 * w0 + y1 * z0 - z1 * y0 + w1 * x0, + -x1 * z0 + y1 * w0 + z1 * x0 + w1 * y0, + x1 * y0 - y1 * x0 + z1 * w0 + w1 * z0, + -x1 * x0 - y1 * y0 - z1 * z0 + w1 * w0, + ), + dtype=np.float32, + ) + + +def quat_conjugate(quaternion): + """ + Return conjugate of quaternion. + + E.g.: + >>> q0 = random_quaternion() + >>> q1 = quat_conjugate(q0) + >>> q1[3] == q0[3] and all(q1[:3] == -q0[:3]) + True + + Args: + quaternion (np.array): (x,y,z,w) quaternion + + Returns: + np.array: (x,y,z,w) quaternion conjugate + """ + return np.array( + (-quaternion[0], -quaternion[1], -quaternion[2], quaternion[3]), + dtype=np.float32, + ) + + +def quat_inverse(quaternion): + """ + Return inverse of quaternion. + + E.g.: + >>> q0 = random_quaternion() + >>> q1 = quat_inverse(q0) + >>> np.allclose(quat_multiply(q0, q1), [0, 0, 0, 1]) + True + + Args: + quaternion (np.array): (x,y,z,w) quaternion + + Returns: + np.array: (x,y,z,w) quaternion inverse + """ + return quat_conjugate(quaternion) / np.dot(quaternion, quaternion) + + +def quat_distance(quaternion1, quaternion0): + """ + Returns distance between two quaternions, such that distance * quaternion0 = quaternion1 + + Args: + quaternion1 (np.array): (x,y,z,w) quaternion + quaternion0 (np.array): (x,y,z,w) quaternion + + Returns: + np.array: (x,y,z,w) quaternion distance + """ + return quat_multiply(quaternion1, quat_inverse(quaternion0)) + + +def quat_slerp(quat0, quat1, fraction, shortestpath=True): + """ + Return spherical linear interpolation between two quaternions. + + E.g.: + >>> q0 = random_quat() + >>> q1 = random_quat() + >>> q = quat_slerp(q0, q1, 0.0) + >>> np.allclose(q, q0) + True + + >>> q = quat_slerp(q0, q1, 1.0) + >>> np.allclose(q, q1) + True + + >>> q = quat_slerp(q0, q1, 0.5) + >>> angle = math.acos(np.dot(q0, q)) + >>> np.allclose(2.0, math.acos(np.dot(q0, q1)) / angle) or \ + np.allclose(2.0, math.acos(-np.dot(q0, q1)) / angle) + True + + Args: + quat0 (np.array): (x,y,z,w) quaternion startpoint + quat1 (np.array): (x,y,z,w) quaternion endpoint + fraction (float): fraction of interpolation to calculate + shortestpath (bool): If True, will calculate the shortest path + + Returns: + np.array: (x,y,z,w) quaternion distance + """ + q0 = unit_vector(quat0[:4]) + q1 = unit_vector(quat1[:4]) + if fraction == 0.0: + return q0 + elif fraction == 1.0: + return q1 + d = np.dot(q0, q1) + if abs(abs(d) - 1.0) < EPS: + return q0 + if shortestpath and d < 0.0: + # invert rotation + d = -d + q1 *= -1.0 + angle = math.acos(np.clip(d, -1, 1)) + if abs(angle) < EPS: + return q0 + isin = 1.0 / math.sin(angle) + q0 *= math.sin((1.0 - fraction) * angle) * isin + q1 *= math.sin(fraction * angle) * isin + q0 += q1 + return q0 + + +def random_quat(rand=None): + """ + Return uniform random unit quaternion. + + E.g.: + >>> q = random_quat() + >>> np.allclose(1.0, vector_norm(q)) + True + >>> q = random_quat(np.random.random(3)) + >>> q.shape + (4,) + + Args: + rand (3-array or None): If specified, must be three independent random variables that are uniformly distributed + between 0 and 1. + + Returns: + np.array: (x,y,z,w) random quaternion + """ + if rand is None: + rand = np.random.rand(3) + else: + assert len(rand) == 3 + r1 = np.sqrt(1.0 - rand[0]) + r2 = np.sqrt(rand[0]) + pi2 = math.pi * 2.0 + t1 = pi2 * rand[1] + t2 = pi2 * rand[2] + return np.array( + (np.sin(t1) * r1, np.cos(t1) * r1, np.sin(t2) * r2, np.cos(t2) * r2), + dtype=np.float32, + ) + + +def random_axis_angle(angle_limit=None, random_state=None): + """ + Samples an axis-angle rotation by first sampling a random axis + and then sampling an angle. If @angle_limit is provided, the size + of the rotation angle is constrained. + + If @random_state is provided (instance of np.random.RandomState), it + will be used to generate random numbers. + + Args: + angle_limit (None or float): If set, determines magnitude limit of angles to generate + random_state (None or RandomState): RNG to use if specified + + Raises: + AssertionError: [Invalid RNG] + """ + if angle_limit is None: + angle_limit = 2.0 * np.pi + + if random_state is not None: + assert isinstance(random_state, np.random.RandomState) + npr = random_state + else: + npr = np.random + + # sample random axis using a normalized sample from spherical Gaussian. + # see (http://extremelearning.com.au/how-to-generate-uniformly-random-points-on-n-spheres-and-n-balls/) + # for why it works. + random_axis = npr.randn(3) + random_axis /= np.linalg.norm(random_axis) + random_angle = npr.uniform(low=0.0, high=angle_limit) + return random_axis, random_angle + + +def vec(values): + """ + Converts value tuple into a numpy vector. + + Args: + values (n-array): a tuple of numbers + + Returns: + np.array: vector of given values + """ + return np.array(values, dtype=np.float32) + + +def mat4(array): + """ + Converts an array to 4x4 matrix. + + Args: + array (n-array): the array in form of vec, list, or tuple + + Returns: + np.array: a 4x4 numpy matrix + """ + return np.array(array, dtype=np.float32).reshape((4, 4)) + + +def mat2pose(hmat): + """ + Converts a homogeneous 4x4 matrix into pose. + + Args: + hmat (np.array): a 4x4 homogeneous matrix + + Returns: + 2-tuple: + - (np.array) (x,y,z) position array in cartesian coordinates + - (np.array) (x,y,z,w) orientation array in quaternion form + """ + pos = hmat[:3, 3] + orn = mat2quat(hmat[:3, :3]) + return pos, orn + + +def mat2quat(rmat): + """ + Converts given rotation matrix to quaternion. + + Args: + rmat (np.array): (..., 3, 3) rotation matrix + + Returns: + np.array: (..., 4) (x,y,z,w) float quaternion angles + """ + return R.from_matrix(rmat).as_quat() + + +def vec2quat(vec, up=(0, 0, 1.0)): + """ + Converts given 3d-direction vector @vec to quaternion orientation with respect to another direction vector @up + + Args: + vec (3-array): (x,y,z) direction vector (possible non-normalized) + up (3-array): (x,y,z) direction vector representing the canonical up direction (possible non-normalized) + """ + # See https://stackoverflow.com/questions/15873996/converting-a-direction-vector-to-a-quaternion-rotation + # Take cross product of @up and @vec to get @s_n, and then cross @vec and @s_n to get @u_n + # Then compose 3x3 rotation matrix and convert into quaternion + vec_n = vec / np.linalg.norm(vec) # x + up_n = up / np.linalg.norm(up) + s_n = np.cross(up_n, vec_n) # y + u_n = np.cross(vec_n, s_n) # z + return mat2quat(np.array([vec_n, s_n, u_n]).T) + + +def euler2mat(euler): + """ + Converts euler angles into rotation matrix form + + Args: + euler (np.array): (r,p,y) angles + + Returns: + np.array: 3x3 rotation matrix + + Raises: + AssertionError: [Invalid input shape] + """ + + euler = np.asarray(euler, dtype=np.float64) + assert euler.shape[-1] == 3, "Invalid shaped euler {}".format(euler) + + return R.from_euler("xyz", euler).as_matrix() + + +def mat2euler(rmat): + """ + Converts given rotation matrix to euler angles in radian. + + Args: + rmat (np.array): 3x3 rotation matrix + + Returns: + np.array: (r,p,y) converted euler angles in radian vec3 float + """ + M = np.array(rmat, dtype=np.float32, copy=False)[:3, :3] + return R.from_matrix(M).as_euler("xyz") + + +def pose2mat(pose): + """ + Converts pose to homogeneous matrix. + + Args: + pose (2-tuple): a (pos, orn) tuple where pos is vec3 float cartesian, and + orn is vec4 float quaternion. + + Returns: + np.array: 4x4 homogeneous matrix + """ + homo_pose_mat = np.zeros((4, 4), dtype=np.float32) + homo_pose_mat[:3, :3] = quat2mat(pose[1]) + homo_pose_mat[:3, 3] = np.array(pose[0], dtype=np.float32) + homo_pose_mat[3, 3] = 1.0 + return homo_pose_mat + + +def quat2mat(quaternion): + """ + Converts given quaternion to matrix. + + Args: + quaternion (np.array): (..., 4) (x,y,z,w) float quaternion angles + + Returns: + np.array: (..., 3, 3) rotation matrix + """ + return R.from_quat(quaternion).as_matrix() + + +def quat2axisangle(quat): + """ + Converts quaternion to axis-angle format. + Returns a unit vector direction scaled by its angle in radians. + + Args: + quat (np.array): (x,y,z,w) vec4 float angles + + Returns: + np.array: (ax,ay,az) axis-angle exponential coordinates + """ + return R.from_quat(quat).as_rotvec() + + +def axisangle2quat(vec): + """ + Converts scaled axis-angle to quat. + + Args: + vec (np.array): (ax,ay,az) axis-angle exponential coordinates + + Returns: + np.array: (x,y,z,w) vec4 float angles + """ + return R.from_rotvec(vec).as_quat() + + +def euler2quat(euler): + """ + Converts euler angles into quaternion form + + Args: + euler (np.array): (r,p,y) angles + + Returns: + np.array: (x,y,z,w) float quaternion angles + + Raises: + AssertionError: [Invalid input shape] + """ + return R.from_euler("xyz", euler).as_quat() + + +def quat2euler(quat): + """ + Converts euler angles into quaternion form + + Args: + quat (np.array): (x,y,z,w) float quaternion angles + + Returns: + np.array: (r,p,y) angles + + Raises: + AssertionError: [Invalid input shape] + """ + return R.from_quat(quat).as_euler("xyz") + + +def pose_in_A_to_pose_in_B(pose_A, pose_A_in_B): + """ + Converts a homogenous matrix corresponding to a point C in frame A + to a homogenous matrix corresponding to the same point C in frame B. + + Args: + pose_A (np.array): 4x4 matrix corresponding to the pose of C in frame A + pose_A_in_B (np.array): 4x4 matrix corresponding to the pose of A in frame B + + Returns: + np.array: 4x4 matrix corresponding to the pose of C in frame B + """ + + # pose of A in B takes a point in A and transforms it to a point in C. + + # pose of C in B = pose of A in B * pose of C in A + # take a point in C, transform it to A, then to B + # T_B^C = T_A^C * T_B^A + return pose_A_in_B.dot(pose_A) + + +def pose_inv(pose_mat): + """ + Computes the inverse of a homogeneous matrix corresponding to the pose of some + frame B in frame A. The inverse is the pose of frame A in frame B. + + Args: + pose_mat (np.array): 4x4 matrix for the pose to inverse + + Returns: + np.array: 4x4 matrix for the inverse pose + """ + + # Note, the inverse of a pose matrix is the following + # [R t; 0 1]^-1 = [R.T -R.T*t; 0 1] + + # Intuitively, this makes sense. + # The original pose matrix translates by t, then rotates by R. + # We just invert the rotation by applying R-1 = R.T, and also translate back. + # Since we apply translation first before rotation, we need to translate by + # -t in the original frame, which is -R-1*t in the new frame, and then rotate back by + # R-1 to align the axis again. + + pose_inv = np.zeros((4, 4)) + pose_inv[:3, :3] = pose_mat[:3, :3].T + pose_inv[:3, 3] = -pose_inv[:3, :3].dot(pose_mat[:3, 3]) + pose_inv[3, 3] = 1.0 + return pose_inv + + +def pose_transform(pos1, quat1, pos0, quat0): + """ + Conducts forward transform from pose (pos0, quat0) to pose (pos1, quat1): + + pose1 @ pose0, NOT pose0 @ pose1 + + Args: + pos1: (x,y,z) position to transform + quat1: (x,y,z,w) orientation to transform + pos0: (x,y,z) initial position + quat0: (x,y,z,w) initial orientation + + Returns: + 2-tuple: + - (np.array) (x,y,z) position array in cartesian coordinates + - (np.array) (x,y,z,w) orientation array in quaternion form + """ + # Get poses + mat0 = pose2mat((pos0, quat0)) + mat1 = pose2mat((pos1, quat1)) + + # Multiply and convert back to pos, quat + return mat2pose(mat1 @ mat0) + + +def invert_pose_transform(pos, quat): + """ + Inverts a pose transform + + Args: + pos: (x,y,z) position to transform + quat: (x,y,z,w) orientation to transform + + Returns: + 2-tuple: + - (np.array) (x,y,z) position array in cartesian coordinates + - (np.array) (x,y,z,w) orientation array in quaternion form + """ + # Get pose + mat = pose2mat((pos, quat)) + + # Invert pose and convert back to pos, quat + return mat2pose(pose_inv(mat)) + + +def relative_pose_transform(pos1, quat1, pos0, quat0): + """ + Computes relative forward transform from pose (pos0, quat0) to pose (pos1, quat1), i.e.: solves: + + pose1 = pose0 @ transform + + Args: + pos1: (x,y,z) position to transform + quat1: (x,y,z,w) orientation to transform + pos0: (x,y,z) initial position + quat0: (x,y,z,w) initial orientation + + Returns: + 2-tuple: + - (np.array) (x,y,z) position array in cartesian coordinates + - (np.array) (x,y,z,w) orientation array in quaternion form + """ + # Get poses + mat0 = pose2mat((pos0, quat0)) + mat1 = pose2mat((pos1, quat1)) + + # Invert pose0 and calculate transform + return mat2pose(pose_inv(mat0) @ mat1) + + +def _skew_symmetric_translation(pos_A_in_B): + """ + Helper function to get a skew symmetric translation matrix for converting quantities + between frames. + + Args: + pos_A_in_B (np.array): (x,y,z) position of A in frame B + + Returns: + np.array: 3x3 skew symmetric translation matrix + """ + return np.array( + [ + 0.0, + -pos_A_in_B[2], + pos_A_in_B[1], + pos_A_in_B[2], + 0.0, + -pos_A_in_B[0], + -pos_A_in_B[1], + pos_A_in_B[0], + 0.0, + ] + ).reshape((3, 3)) + + +def vel_in_A_to_vel_in_B(vel_A, ang_vel_A, pose_A_in_B): + """ + Converts linear and angular velocity of a point in frame A to the equivalent in frame B. + + Args: + vel_A (np.array): (vx,vy,vz) linear velocity in A + ang_vel_A (np.array): (wx,wy,wz) angular velocity in A + pose_A_in_B (np.array): 4x4 matrix corresponding to the pose of A in frame B + + Returns: + 2-tuple: + + - (np.array) (vx,vy,vz) linear velocities in frame B + - (np.array) (wx,wy,wz) angular velocities in frame B + """ + pos_A_in_B = pose_A_in_B[:3, 3] + rot_A_in_B = pose_A_in_B[:3, :3] + skew_symm = _skew_symmetric_translation(pos_A_in_B) + vel_B = rot_A_in_B.dot(vel_A) + skew_symm.dot(rot_A_in_B.dot(ang_vel_A)) + ang_vel_B = rot_A_in_B.dot(ang_vel_A) + return vel_B, ang_vel_B + + +def force_in_A_to_force_in_B(force_A, torque_A, pose_A_in_B): + """ + Converts linear and rotational force at a point in frame A to the equivalent in frame B. + + Args: + force_A (np.array): (fx,fy,fz) linear force in A + torque_A (np.array): (tx,ty,tz) rotational force (moment) in A + pose_A_in_B (np.array): 4x4 matrix corresponding to the pose of A in frame B + + Returns: + 2-tuple: + + - (np.array) (fx,fy,fz) linear forces in frame B + - (np.array) (tx,ty,tz) moments in frame B + """ + pos_A_in_B = pose_A_in_B[:3, 3] + rot_A_in_B = pose_A_in_B[:3, :3] + skew_symm = _skew_symmetric_translation(pos_A_in_B) + force_B = rot_A_in_B.T.dot(force_A) + torque_B = -rot_A_in_B.T.dot(skew_symm.dot(force_A)) + rot_A_in_B.T.dot(torque_A) + return force_B, torque_B + + +def rotation_matrix(angle, direction, point=None): + """ + Returns matrix to rotate about axis defined by point and direction. + + E.g.: + >>> angle = (random.random() - 0.5) * (2*math.pi) + >>> direc = numpy.random.random(3) - 0.5 + >>> point = numpy.random.random(3) - 0.5 + >>> R0 = rotation_matrix(angle, direc, point) + >>> R1 = rotation_matrix(angle-2*math.pi, direc, point) + >>> is_same_transform(R0, R1) + True + + >>> R0 = rotation_matrix(angle, direc, point) + >>> R1 = rotation_matrix(-angle, -direc, point) + >>> is_same_transform(R0, R1) + True + + >>> I = numpy.identity(4, numpy.float32) + >>> numpy.allclose(I, rotation_matrix(math.pi*2, direc)) + True + + >>> numpy.allclose(2., numpy.trace(rotation_matrix(math.pi/2, + ... direc, point))) + True + + Args: + angle (float): Magnitude of rotation + direction (np.array): (ax,ay,az) axis about which to rotate + point (None or np.array): If specified, is the (x,y,z) point about which the rotation will occur + + Returns: + np.array: 4x4 homogeneous matrix that includes the desired rotation + """ + sina = math.sin(angle) + cosa = math.cos(angle) + direction = unit_vector(direction[:3]) + # rotation matrix around unit vector + R = np.array(((cosa, 0.0, 0.0), (0.0, cosa, 0.0), (0.0, 0.0, cosa)), dtype=np.float32) + R += np.outer(direction, direction) * (1.0 - cosa) + direction *= sina + R += np.array( + ( + (0.0, -direction[2], direction[1]), + (direction[2], 0.0, -direction[0]), + (-direction[1], direction[0], 0.0), + ), + dtype=np.float32, + ) + M = np.identity(4) + M[:3, :3] = R + if point is not None: + # rotation not around origin + point = np.array(point[:3], dtype=np.float32, copy=False) + M[:3, 3] = point - np.dot(R, point) + return M + + +def clip_translation(dpos, limit): + """ + Limits a translation (delta position) to a specified limit + + Scales down the norm of the dpos to 'limit' if norm(dpos) > limit, else returns immediately + + Args: + dpos (n-array): n-dim Translation being clipped (e,g.: (x, y, z)) -- numpy array + limit (float): Value to limit translation by -- magnitude (scalar, in same units as input) + + Returns: + 2-tuple: + + - (np.array) Clipped translation (same dimension as inputs) + - (bool) whether the value was clipped or not + """ + input_norm = np.linalg.norm(dpos) + return (dpos * limit / input_norm, True) if input_norm > limit else (dpos, False) + + +def clip_rotation(quat, limit): + """ + Limits a (delta) rotation to a specified limit + + Converts rotation to axis-angle, clips, then re-converts back into quaternion + + Args: + quat (np.array): (x,y,z,w) rotation being clipped + limit (float): Value to limit rotation by -- magnitude (scalar, in radians) + + Returns: + 2-tuple: + + - (np.array) Clipped rotation quaternion (x, y, z, w) + - (bool) whether the value was clipped or not + """ + clipped = False + + # First, normalize the quaternion + quat = quat / np.linalg.norm(quat) + + den = np.sqrt(max(1 - quat[3] * quat[3], 0)) + if den == 0: + # This is a zero degree rotation, immediately return + return quat, clipped + else: + # This is all other cases + x = quat[0] / den + y = quat[1] / den + z = quat[2] / den + a = 2 * math.acos(quat[3]) + + # Clip rotation if necessary and return clipped quat + if abs(a) > limit: + a = limit * np.sign(a) / 2 + sa = math.sin(a) + ca = math.cos(a) + quat = np.array([x * sa, y * sa, z * sa, ca]) + clipped = True + + return quat, clipped + + +def make_pose(translation, rotation): + """ + Makes a homogeneous pose matrix from a translation vector and a rotation matrix. + + Args: + translation (np.array): (x,y,z) translation value + rotation (np.array): a 3x3 matrix representing rotation + + Returns: + pose (np.array): a 4x4 homogeneous matrix + """ + pose = np.zeros((4, 4)) + pose[:3, :3] = rotation + pose[:3, 3] = translation + pose[3, 3] = 1.0 + return pose + + +def unit_vector(data, axis=None, out=None): + """ + Returns ndarray normalized by length, i.e. eucledian norm, along axis. + + E.g.: + >>> v0 = numpy.random.random(3) + >>> v1 = unit_vector(v0) + >>> numpy.allclose(v1, v0 / numpy.linalg.norm(v0)) + True + + >>> v0 = numpy.random.rand(5, 4, 3) + >>> v1 = unit_vector(v0, axis=-1) + >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=2)), 2) + >>> numpy.allclose(v1, v2) + True + + >>> v1 = unit_vector(v0, axis=1) + >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=1)), 1) + >>> numpy.allclose(v1, v2) + True + + >>> v1 = numpy.empty((5, 4, 3), dtype=numpy.float32) + >>> unit_vector(v0, axis=1, out=v1) + >>> numpy.allclose(v1, v2) + True + + >>> list(unit_vector([])) + [] + + >>> list(unit_vector([1.0])) + [1.0] + + Args: + data (np.array): data to normalize + axis (None or int): If specified, determines specific axis along data to normalize + out (None or np.array): If specified, will store computation in this variable + + Returns: + None or np.array: If @out is not specified, will return normalized vector. Otherwise, stores the output in @out + """ + if out is None: + data = np.array(data, dtype=np.float32, copy=True) + if data.ndim == 1: + data /= math.sqrt(np.dot(data, data)) + return data + else: + if out is not data: + out[:] = np.array(data, copy=False) + data = out + length = np.atleast_1d(np.sum(data * data, axis)) + np.sqrt(length, length) + if axis is not None: + length = np.expand_dims(length, axis) + data /= length + if out is None: + return data + + +def get_orientation_error(target_orn, current_orn): + """ + Returns the difference between two quaternion orientations as a 3 DOF numpy array. + For use in an impedance controller / task-space PD controller. + + Args: + target_orn (np.array): (x, y, z, w) desired quaternion orientation + current_orn (np.array): (x, y, z, w) current quaternion orientation + + Returns: + orn_error (np.array): (ax,ay,az) current orientation error, corresponds to + (target_orn - current_orn) + """ + current_orn = np.array([current_orn[3], current_orn[0], current_orn[1], current_orn[2]]) + target_orn = np.array([target_orn[3], target_orn[0], target_orn[1], target_orn[2]]) + + pinv = np.zeros((3, 4)) + pinv[0, :] = [-current_orn[1], current_orn[0], -current_orn[3], current_orn[2]] + pinv[1, :] = [-current_orn[2], current_orn[3], current_orn[0], -current_orn[1]] + pinv[2, :] = [-current_orn[3], -current_orn[2], current_orn[1], current_orn[0]] + orn_error = 2.0 * pinv.dot(np.array(target_orn)) + return orn_error + + +def get_orientation_diff_in_radian(orn0, orn1): + """ + Returns the difference between two quaternion orientations in radian + + Args: + orn0 (np.array): (x, y, z, w) + orn1 (np.array): (x, y, z, w) + + Returns: + orn_diff (float): orientation difference in radian + """ + vec0 = quat2axisangle(orn0) + vec0 /= np.linalg.norm(vec0) + vec1 = quat2axisangle(orn1) + vec1 /= np.linalg.norm(vec1) + return np.arccos(np.dot(vec0, vec1)) + + +def get_pose_error(target_pose, current_pose): + """ + Computes the error corresponding to target pose - current pose as a 6-dim vector. + The first 3 components correspond to translational error while the last 3 components + correspond to the rotational error. + + Args: + target_pose (np.array): a 4x4 homogenous matrix for the target pose + current_pose (np.array): a 4x4 homogenous matrix for the current pose + + Returns: + np.array: 6-dim pose error. + """ + error = np.zeros(6) + + # compute translational error + target_pos = target_pose[:3, 3] + current_pos = current_pose[:3, 3] + pos_err = target_pos - current_pos + + # compute rotational error + r1 = current_pose[:3, 0] + r2 = current_pose[:3, 1] + r3 = current_pose[:3, 2] + r1d = target_pose[:3, 0] + r2d = target_pose[:3, 1] + r3d = target_pose[:3, 2] + rot_err = 0.5 * (np.cross(r1, r1d) + np.cross(r2, r2d) + np.cross(r3, r3d)) + + error[:3] = pos_err + error[3:] = rot_err + return error + + +def matrix_inverse(matrix): + """ + Helper function to have an efficient matrix inversion function. + + Args: + matrix (np.array): 2d-array representing a matrix + + Returns: + np.array: 2d-array representing the matrix inverse + """ + return np.linalg.inv(matrix) + + +def vecs2axisangle(vec0, vec1): + """ + Converts the angle from unnormalized 3D vectors @vec0 to @vec1 into an axis-angle representation of the angle + + Args: + vec0 (np.array): (..., 3) (x,y,z) 3D vector, possibly unnormalized + vec1 (np.array): (..., 3) (x,y,z) 3D vector, possibly unnormalized + """ + # Normalize vectors + vec0 = normalize(vec0, axis=-1) + vec1 = normalize(vec1, axis=-1) + + # Get cross product for direction of angle, and multiply by arcos of the dot product which is the angle + return np.cross(vec0, vec1) * np.arccos((vec0 * vec1).sum(-1, keepdims=True)) + + +def vecs2quat(vec0, vec1, normalized=False): + """ + Converts the angle from unnormalized 3D vectors @vec0 to @vec1 into a quaternion representation of the angle + + Args: + vec0 (np.array): (..., 3) (x,y,z) 3D vector, possibly unnormalized + vec1 (np.array): (..., 3) (x,y,z) 3D vector, possibly unnormalized + normalized (bool): If True, @vec0 and @vec1 are assumed to already be normalized and we will skip the + normalization step (more efficient) + """ + # Normalize vectors if requested + if not normalized: + vec0 = normalize(vec0, axis=-1) + vec1 = normalize(vec1, axis=-1) + + # Half-way Quaternion Solution -- see https://stackoverflow.com/a/11741520 + cos_theta = np.sum(vec0 * vec1, axis=-1, keepdims=True) + quat_unnormalized = np.where( + cos_theta == -1, np.array([1.0, 0, 0, 0]), np.concatenate([np.cross(vec0, vec1), 1 + cos_theta], axis=-1) + ) + return quat_unnormalized / np.linalg.norm(quat_unnormalized, axis=-1, keepdims=True) + + +def l2_distance(v1, v2): + """Returns the L2 distance between vector v1 and v2.""" + return np.linalg.norm(np.array(v1) - np.array(v2)) + + +def frustum(left, right, bottom, top, znear, zfar): + """Create view frustum matrix.""" + assert right != left + assert bottom != top + assert znear != zfar + + M = np.zeros((4, 4), dtype=np.float32) + M[0, 0] = +2.0 * znear / (right - left) + M[2, 0] = (right + left) / (right - left) + M[1, 1] = +2.0 * znear / (top - bottom) + # TODO: Put this back to 3,1 + # M[3, 1] = (top + bottom) / (top - bottom) + M[2, 1] = (top + bottom) / (top - bottom) + M[2, 2] = -(zfar + znear) / (zfar - znear) + M[3, 2] = -2.0 * znear * zfar / (zfar - znear) + M[2, 3] = -1.0 + return M + + +def ortho(left, right, bottom, top, znear, zfar): + """Create orthonormal projection matrix.""" + assert right != left + assert bottom != top + assert znear != zfar + + M = np.zeros((4, 4), dtype=np.float32) + M[0, 0] = 2.0 / (right - left) + M[1, 1] = 2.0 / (top - bottom) + M[2, 2] = -2.0 / (zfar - znear) + M[3, 0] = -(right + left) / (right - left) + M[3, 1] = -(top + bottom) / (top - bottom) + M[3, 2] = -(zfar + znear) / (zfar - znear) + M[3, 3] = 1.0 + return M + + +def perspective(fovy, aspect, znear, zfar): + """Create perspective projection matrix.""" + # fovy is in degree + assert znear != zfar + h = np.tan(fovy / 360.0 * np.pi) * znear + w = h * aspect + return frustum(-w, w, -h, h, znear, zfar) + + +def anorm(x, axis=None, keepdims=False): + """Compute L2 norms alogn specified axes.""" + return np.linalg.norm(x, axis=axis, keepdims=keepdims) + + +def normalize(v, axis=None, eps=1e-10): + """L2 Normalize along specified axes.""" + norm = anorm(v, axis=axis, keepdims=True) + return v / np.where(norm < eps, eps, norm) + + +def cartesian_to_polar(x, y): + """Convert cartesian coordinate to polar coordinate""" + rho = np.sqrt(x**2 + y**2) + phi = np.arctan2(y, x) + return rho, phi + + +def deg2rad(deg): + return deg * np.pi / 180.0 + + +def rad2deg(rad): + return rad * 180.0 / np.pi + + +def check_quat_right_angle(quat, atol=5e-2): + """ + Check by making sure the quaternion is some permutation of +/- (1, 0, 0, 0), + +/- (0.707, 0.707, 0, 0), or +/- (0.5, 0.5, 0.5, 0.5) + Because orientations are all normalized (same L2-norm), every orientation should have a unique L1-norm + So we check the L1-norm of the absolute value of the orientation as a proxy for verifying these values + + Args: + quat (4-array): (x,y,z,w) quaternion orientation to check + atol (float): Absolute tolerance permitted + + Returns: + bool: Whether the quaternion is a right angle or not + """ + return np.any(np.isclose(np.abs(quat).sum(), np.array([1.0, 1.414, 2.0]), atol=atol)) + + +def z_angle_from_quat(quat): + """Get the angle around the Z axis produced by the quaternion.""" + rotated_X_axis = R.from_quat(quat).apply([1, 0, 0]) + return np.arctan2(rotated_X_axis[1], rotated_X_axis[0]) + + +def z_rotation_from_quat(quat): + """Get the quaternion for the rotation around the Z axis produced by the quaternion.""" + return R.from_euler("z", z_angle_from_quat(quat)).as_quat() + + +def integer_spiral_coordinates(n): + """A function to map integers to 2D coordinates in a spiral pattern around the origin.""" + # Map integers from Z to Z^2 in a spiral pattern around the origin. + # Sources: + # https://www.reddit.com/r/askmath/comments/18vqorf/find_the_nth_coordinate_of_a_square_spiral/ + # https://oeis.org/A174344 + m = np.floor(np.sqrt(n)) + x = ((-1) ** m) * ((n - m * (m + 1)) * (np.floor(2 * np.sqrt(n)) % 2) - np.ceil(m / 2)) + y = ((-1) ** (m + 1)) * ((n - m * (m + 1)) * (np.floor(2 * np.sqrt(n) + 1) % 2) + np.ceil(m / 2)) + return int(x), int(y) + + +def calculate_xy_plane_angle(quaternion): + """ + Compute the 2D orientation angle from a quaternion assuming the initial forward vector is along the x-axis. + + Parameters: + quaternion : array_like + The quaternion (w, x, y, z) representing the rotation. + + Returns: + float + The angle (in radians) of the projection of the forward vector onto the XY plane. + Returns 0.0 if the projected vector's magnitude is negligibly small. + """ + fwd = R.from_quat(quaternion).apply([1, 0, 0]) + fwd[2] = 0.0 + + if np.linalg.norm(fwd) < 1e-4: + return 0.0 + + fwd /= np.linalg.norm(fwd) + return np.arctan2(fwd[1], fwd[0]) + + +@jit(nopython=True) +def orientation_error(desired, current): + """ + This function calculates a 3-dimensional orientation error vector for use in the + impedance controller. It does this by computing the delta rotation between the + inputs and converting that rotation to exponential coordinates (axis-angle + representation, where the 3d vector is axis * angle). + See https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation for more information. + Optimized function to determine orientation error from matrices + + Args: + desired (tensor): (..., 3, 3) where final two dims are 2d array representing target orientation matrix + current (tensor): (..., 3, 3) where final two dims are 2d array representing current orientation matrix + Returns: + tensor: (..., 3) where final dim is (ax, ay, az) axis-angle representing orientation error + """ + # convert input shapes + input_shape = desired.shape[:-2] + desired = desired.reshape(-1, 3, 3) + current = current.reshape(-1, 3, 3) + + # grab relevant info + rc1 = current[:, :, 0] + rc2 = current[:, :, 1] + rc3 = current[:, :, 2] + rd1 = desired[:, :, 0] + rd2 = desired[:, :, 1] + rd3 = desired[:, :, 2] + + error = 0.5 * (np.cross(rc1, rd1) + np.cross(rc2, rd2) + np.cross(rc3, rd3)) + + # Reshape + error = error.reshape(*input_shape, 3) + + return error diff --git a/omnigibson/utils/usd_utils.py b/omnigibson/utils/usd_utils.py index 10939d81e..f80792972 100644 --- a/omnigibson/utils/usd_utils.py +++ b/omnigibson/utils/usd_utils.py @@ -11,6 +11,7 @@ import omnigibson as og import omnigibson.lazy as lazy +from omnigibson.controllers.controller_base import _controller_backend as cb import omnigibson.utils.transform_utils as T from omnigibson.macros import gm from omnigibson.utils.constants import PRIMITIVE_MESH_TYPES, JointType, PrimType @@ -851,19 +852,19 @@ def clear(self): def flush_control(self): if "dof_position_targets" in self._write_idx_cache: - pos_indices = th.tensor(sorted(self._write_idx_cache["dof_position_targets"])) + pos_indices = cb.int_array(sorted(self._write_idx_cache["dof_position_targets"])) pos_targets = self._read_cache["dof_position_targets"] - self._view.set_dof_position_targets(pos_targets, pos_indices) + self._view.set_dof_position_targets(cb.to_torch(pos_targets), cb.to_torch(pos_indices)) if "dof_velocity_targets" in self._write_idx_cache: - vel_indices = th.tensor(sorted(self._write_idx_cache["dof_velocity_targets"])) + vel_indices = cb.int_array(sorted(self._write_idx_cache["dof_velocity_targets"])) vel_targets = self._read_cache["dof_velocity_targets"] - self._view.set_dof_velocity_targets(vel_targets, vel_indices) + self._view.set_dof_velocity_targets(cb.to_torch(vel_targets), cb.to_torch(vel_indices)) if "dof_actuation_forces" in self._write_idx_cache: - eff_indices = th.tensor(sorted(self._write_idx_cache["dof_actuation_forces"])) + eff_indices = cb.int_array(sorted(self._write_idx_cache["dof_actuation_forces"])) eff_targets = self._read_cache["dof_actuation_forces"] - self._view.set_dof_actuation_forces(eff_targets, eff_indices) + self._view.set_dof_actuation_forces(cb.to_torch(eff_targets), cb.to_torch(eff_indices)) def initialize_view(self): # First, get all of the controllable objects in the scene (avoiding circular import) @@ -913,10 +914,10 @@ def set_joint_position_targets(self, prim_path, positions, indices): # Load the current targets. if "dof_position_targets" not in self._read_cache: - self._read_cache["dof_position_targets"] = self._view.get_dof_position_targets() + self._read_cache["dof_position_targets"] = cb.from_torch(self._view.get_dof_position_targets()) # Update the target - self._read_cache["dof_position_targets"][idx][indices] = positions + self._read_cache["dof_position_targets"][idx, indices] = positions # Add this index to the write cache self._write_idx_cache["dof_position_targets"].add(idx) @@ -927,10 +928,10 @@ def set_joint_velocity_targets(self, prim_path, velocities, indices): # Load the current targets. if "dof_velocity_targets" not in self._read_cache: - self._read_cache["dof_velocity_targets"] = self._view.get_dof_velocity_targets() + self._read_cache["dof_velocity_targets"] = cb.from_torch(self._view.get_dof_velocity_targets()) # Update the target - self._read_cache["dof_velocity_targets"][idx][indices] = velocities + self._read_cache["dof_velocity_targets"][idx, indices] = velocities # Add this index to the write cache self._write_idx_cache["dof_velocity_targets"].add(idx) @@ -941,17 +942,17 @@ def set_joint_efforts(self, prim_path, efforts, indices): # Load the current targets. if "dof_actuation_forces" not in self._read_cache: - self._read_cache["dof_actuation_forces"] = self._view.get_dof_actuation_forces() + self._read_cache["dof_actuation_forces"] = cb.from_torch(self._view.get_dof_actuation_forces()) # Update the target - self._read_cache["dof_actuation_forces"][idx][indices] = efforts + self._read_cache["dof_actuation_forces"][idx, indices] = efforts # Add this index to the write cache self._write_idx_cache["dof_actuation_forces"].add(idx) def get_root_transform(self, prim_path): if "root_transforms" not in self._read_cache: - self._read_cache["root_transforms"] = self._view.get_root_transforms() + self._read_cache["root_transforms"] = cb.from_torch(self._view.get_root_transforms()) idx = self._idx[prim_path] pose = self._read_cache["root_transforms"][idx] @@ -982,79 +983,79 @@ def get_angular_velocity(self, prim_path): def get_root_linear_velocity(self, prim_path): if "root_velocities" not in self._read_cache: - self._read_cache["root_velocities"] = self._view.get_root_velocities() + self._read_cache["root_velocities"] = cb.from_torch(self._view.get_root_velocities()) idx = self._idx[prim_path] - return self._read_cache["root_velocities"][idx][:3] + return self._read_cache["root_velocities"][idx, :3] def get_root_angular_velocity(self, prim_path): if "root_velocities" not in self._read_cache: - self._read_cache["root_velocities"] = self._view.get_root_velocities() + self._read_cache["root_velocities"] = cb.from_torch(self._view.get_root_velocities()) idx = self._idx[prim_path] - return self._read_cache["root_velocities"][idx][3:] + return self._read_cache["root_velocities"][idx, 3:] def get_relative_linear_velocity(self, prim_path): orn = self.get_position_orientation(prim_path)[1] linvel = self.get_linear_velocity(prim_path) # x.T --> transpose (inverse) orientation - return T.quat2mat(orn).T @ linvel + return cb.T.quat2mat(orn).T @ linvel def get_relative_angular_velocity(self, prim_path): orn = self.get_position_orientation(prim_path)[1] angvel = self.get_angular_velocity(prim_path) # x.T --> transpose (inverse) orientation - return T.quat2mat(orn).T @ angvel + return cb.T.quat2mat(orn).T @ angvel def get_joint_positions(self, prim_path): if "dof_positions" not in self._read_cache: - self._read_cache["dof_positions"] = self._view.get_dof_positions() + self._read_cache["dof_positions"] = cb.from_torch(self._view.get_dof_positions()) idx = self._idx[prim_path] return self._read_cache["dof_positions"][idx] def get_joint_velocities(self, prim_path): if "dof_velocities" not in self._read_cache: - self._read_cache["dof_velocities"] = self._view.get_dof_velocities() + self._read_cache["dof_velocities"] = cb.from_torch(self._view.get_dof_velocities()) idx = self._idx[prim_path] return self._read_cache["dof_velocities"][idx] def get_joint_efforts(self, prim_path): if "dof_projected_joint_forces" not in self._read_cache: - self._read_cache["dof_projected_joint_forces"] = self._view.get_dof_projected_joint_forces() + self._read_cache["dof_projected_joint_forces"] = cb.from_torch(self._view.get_dof_projected_joint_forces()) idx = self._idx[prim_path] return self._read_cache["dof_projected_joint_forces"][idx] def get_mass_matrix(self, prim_path): if "mass_matrices" not in self._read_cache: - self._read_cache["mass_matrices"] = self._view.get_mass_matrices() + self._read_cache["mass_matrices"] = cb.from_torch(self._view.get_mass_matrices()) idx = self._idx[prim_path] return self._read_cache["mass_matrices"][idx] def get_generalized_gravity_forces(self, prim_path): if "generalized_gravity_forces" not in self._read_cache: - self._read_cache["generalized_gravity_forces"] = self._view.get_generalized_gravity_forces() + self._read_cache["generalized_gravity_forces"] = cb.from_torch(self._view.get_generalized_gravity_forces()) idx = self._idx[prim_path] return self._read_cache["generalized_gravity_forces"][idx] def get_coriolis_and_centrifugal_forces(self, prim_path): if "coriolis_and_centrifugal_forces" not in self._read_cache: - self._read_cache["coriolis_and_centrifugal_forces"] = self._view.get_coriolis_and_centrifugal_forces() + self._read_cache["coriolis_and_centrifugal_forces"] = cb.from_torch(self._view.get_coriolis_and_centrifugal_forces()) idx = self._idx[prim_path] return self._read_cache["coriolis_and_centrifugal_forces"][idx] def get_link_transform(self, prim_path, link_name): if "link_transforms" not in self._read_cache: - self._read_cache["link_transforms"] = self._view.get_link_transforms() + self._read_cache["link_transforms"] = cb.from_torch(self._view.get_link_transforms()) idx = self._idx[prim_path] link_idx = self._link_idx[idx][link_name] - pose = self._read_cache["link_transforms"][idx][link_idx] + pose = self._read_cache["link_transforms"][idx, link_idx] return pose[:3], pose[3:] def get_link_relative_position_orientation(self, prim_path, link_name): @@ -1064,15 +1065,15 @@ def get_link_relative_position_orientation(self, prim_path, link_name): world_pos, world_orn = self.get_position_orientation(prim_path) # Compute the relative position and orientation - return T.relative_pose_transform(pos, orn, world_pos, world_orn) + return cb.T.relative_pose_transform(pos, orn, world_pos, world_orn) def get_link_linear_velocity(self, prim_path, link_name): if "link_velocities" not in self._read_cache: - self._read_cache["link_velocities"] = self._view.get_link_velocities() + self._read_cache["link_velocities"] = cb.from_torch(self._view.get_link_velocities()) idx = self._idx[prim_path] link_idx = self._link_idx[idx][link_name] - vel = self._read_cache["link_velocities"][idx][link_idx] + vel = self._read_cache["link_velocities"][idx, link_idx] linvel = vel[:3] return linvel @@ -1084,15 +1085,15 @@ def get_link_relative_linear_velocity(self, prim_path, link_name): _, world_orn = self.get_position_orientation(prim_path) # Compute the relative position and orientation - return T.quat2mat(world_orn).T @ linvel + return cb.T.quat2mat(world_orn).T @ linvel def get_link_angular_velocity(self, prim_path, link_name): if "link_velocities" not in self._read_cache: - self._read_cache["link_velocities"] = self._view.get_link_velocities() + self._read_cache["link_velocities"] = cb.from_torch(self._view.get_link_velocities()) idx = self._idx[prim_path] link_idx = self._link_idx[idx][link_name] - vel = self._read_cache["link_velocities"][idx][link_idx] + vel = self._read_cache["link_velocities"][idx, link_idx] angvel = vel[3:] return angvel @@ -1104,22 +1105,24 @@ def get_link_relative_angular_velocity(self, prim_path, link_name): _, world_orn = self.get_position_orientation(prim_path) # Compute the relative position and orientation - return T.quat2mat(world_orn).T @ angvel + return cb.T.quat2mat(world_orn).T @ angvel def get_jacobian(self, prim_path): if "jacobians" not in self._read_cache: - self._read_cache["jacobians"] = self._view.get_jacobians() + self._read_cache["jacobians"] = cb.from_torch(self._view.get_jacobians()) idx = self._idx[prim_path] return self._read_cache["jacobians"][idx] def get_relative_jacobian(self, prim_path): jacobian = self.get_jacobian(prim_path) - ori_t = T.quat2mat(self.get_position_orientation(prim_path)[1]).T - tf = th.zeros((1, 6, 6), dtype=th.float32) + ori_t = cb.T.quat2mat(self.get_position_orientation(prim_path)[1]).T + tf = cb.zeros((1, 6, 6)) tf[:, :3, :3] = ori_t tf[:, 3:, 3:] = ori_t - return tf @ jacobian + # Run this explicitly in pytorch since it's order of magnitude faster than numpy! + # e.g.: 2e-4 vs. 3e-5 on R1 + return cb.from_torch(cb.to_torch(tf) @ cb.to_torch(jacobian)) class ControllableObjectViewAPI: @@ -1233,6 +1236,10 @@ def set_joint_efforts(cls, prim_path, efforts, indices): def get_position_orientation(cls, prim_path): return cls._VIEWS_BY_PATTERN[cls._get_pattern_from_prim_path(prim_path)].get_position_orientation(prim_path) + @classmethod + def get_root_position_orientation(cls, prim_path): + return cls._VIEWS_BY_PATTERN[cls._get_pattern_from_prim_path(prim_path)].get_root_transform(prim_path) + @classmethod def get_linear_velocity(cls, prim_path): return cls._VIEWS_BY_PATTERN[cls._get_pattern_from_prim_path(prim_path)].get_linear_velocity(prim_path) @@ -1279,6 +1286,12 @@ def get_coriolis_and_centrifugal_forces(cls, prim_path): prim_path ) + @classmethod + def get_link_position_orientation(cls, prim_path, link_name): + return cls._VIEWS_BY_PATTERN[cls._get_pattern_from_prim_path(prim_path)].get_link_transform( + prim_path, link_name + ) + @classmethod def get_link_relative_position_orientation(cls, prim_path, link_name): return cls._VIEWS_BY_PATTERN[cls._get_pattern_from_prim_path(prim_path)].get_link_relative_position_orientation( From 38b2a473cb299ab4f914368e420816ccad620e14 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Tue, 3 Dec 2024 15:48:22 -0800 Subject: [PATCH 22/55] fix small typo --- .../action_primitives/starter_semantic_action_primitives.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/omnigibson/action_primitives/starter_semantic_action_primitives.py b/omnigibson/action_primitives/starter_semantic_action_primitives.py index 1b1aec0d0..d9c5e9ef5 100644 --- a/omnigibson/action_primitives/starter_semantic_action_primitives.py +++ b/omnigibson/action_primitives/starter_semantic_action_primitives.py @@ -36,7 +36,7 @@ from omnigibson.robots.locomotion_robot import LocomotionRobot from omnigibson.robots.manipulation_robot import ManipulationRobot from omnigibson.tasks.behavior_task import BehaviorTask -from omnigibson.utils.control_utils import FKSolver, IKSolver, orientation_error +from omnigibson.utils.control_utils import FKSolver, IKSolver from omnigibson.utils.grasping_planning_utils import get_grasp_poses_for_object_sticky, get_grasp_position_for_open from omnigibson.utils.motion_planning_utils import ( detect_robot_collision_in_sim, @@ -1472,7 +1472,7 @@ def _empty_action(self, follow_arm_targets=True): ) delta_pos = target_pos - current_pos if controller.mode == "pose_delta_ori": - delta_orn = orientation_error( + delta_orn = T.orientation_error( T.quat2mat(T.axisangle2quat(target_orn_axisangle)), T.quat2mat(current_orn) ) partial_action = th.cat((delta_pos, delta_orn)) From 429cfeb5df46af79ce35492b5726fa291f3d3bda Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Tue, 3 Dec 2024 15:48:36 -0800 Subject: [PATCH 23/55] update setup requirements --- setup.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/setup.py b/setup.py index feaeae568..13ac4cba3 100644 --- a/setup.py +++ b/setup.py @@ -48,6 +48,8 @@ "graphviz>=0.20", "matplotlib>=3.0.0", "lxml", + "numba", + "cffi==1.16.0", ], extras_require={ "dev": [ From 8fa44a0c6a39bd6d4650ec14c5079a3896147d6d Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 4 Dec 2024 12:02:35 -0800 Subject: [PATCH 24/55] cache indexing values for better efficiency --- omnigibson/robots/active_camera_robot.py | 3 ++- omnigibson/robots/articulated_trunk_robot.py | 3 ++- omnigibson/robots/holonomic_base_robot.py | 2 +- omnigibson/robots/locomotion_robot.py | 3 ++- omnigibson/robots/manipulation_robot.py | 5 +++-- 5 files changed, 10 insertions(+), 6 deletions(-) diff --git a/omnigibson/robots/active_camera_robot.py b/omnigibson/robots/active_camera_robot.py index cb56e4c77..3bf8317d2 100644 --- a/omnigibson/robots/active_camera_robot.py +++ b/omnigibson/robots/active_camera_robot.py @@ -1,4 +1,5 @@ from abc import abstractmethod +from functools import cached_property import torch as th @@ -126,7 +127,7 @@ def camera_joint_names(self): """ raise NotImplementedError - @property + @cached_property def camera_control_idx(self): """ Returns: diff --git a/omnigibson/robots/articulated_trunk_robot.py b/omnigibson/robots/articulated_trunk_robot.py index 889d0e10d..3323db110 100644 --- a/omnigibson/robots/articulated_trunk_robot.py +++ b/omnigibson/robots/articulated_trunk_robot.py @@ -1,4 +1,5 @@ import torch as th +from functools import cached_property from omnigibson.robots.manipulation_robot import ManipulationRobot from omnigibson.utils.python_utils import classproperty @@ -45,7 +46,7 @@ def trunk_link_names(self): def trunk_joint_names(self): raise NotImplementedError("trunk_joint_names must be implemented in subclass") - @property + @cached_property def trunk_control_idx(self): """ Returns: diff --git a/omnigibson/robots/holonomic_base_robot.py b/omnigibson/robots/holonomic_base_robot.py index 1174d9197..7a230ddf4 100644 --- a/omnigibson/robots/holonomic_base_robot.py +++ b/omnigibson/robots/holonomic_base_robot.py @@ -175,7 +175,7 @@ def _initialize(self): # Reload the controllers to update their command_output_limits and control_limits self.reload_controllers(self._controller_config) - @property + @cached_property def base_idx(self): """ Returns: diff --git a/omnigibson/robots/locomotion_robot.py b/omnigibson/robots/locomotion_robot.py index a723be8e8..6e8274509 100644 --- a/omnigibson/robots/locomotion_robot.py +++ b/omnigibson/robots/locomotion_robot.py @@ -1,4 +1,5 @@ from abc import abstractmethod +from functools import cached_property import torch as th @@ -218,7 +219,7 @@ def base_joint_names(self): """ raise NotImplementedError - @property + @cached_property def base_control_idx(self): """ Returns: diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py index f3f6d55ff..d101e7feb 100644 --- a/omnigibson/robots/manipulation_robot.py +++ b/omnigibson/robots/manipulation_robot.py @@ -1,5 +1,6 @@ import math from abc import abstractmethod +from functools import cached_property from collections import namedtuple from typing import Literal @@ -592,7 +593,7 @@ def finger_joint_names(self): """ raise NotImplementedError - @property + @cached_property def arm_control_idx(self): """ Returns: @@ -604,7 +605,7 @@ def arm_control_idx(self): for arm in self.arm_names } - @property + @cached_property def gripper_control_idx(self): """ Returns: From 5d3bce50d6d6396ccd591a0d92566098343fe1ea Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 4 Dec 2024 12:04:08 -0800 Subject: [PATCH 25/55] improve control loop efficiency, cache relative tf computations --- omnigibson/controllers/controller_base.py | 13 +- omnigibson/objects/controllable_object.py | 91 ++-------- omnigibson/utils/usd_utils.py | 198 ++++++++++++++-------- 3 files changed, 157 insertions(+), 145 deletions(-) diff --git a/omnigibson/controllers/controller_base.py b/omnigibson/controllers/controller_base.py index a17131e9f..b9f3c38a0 100644 --- a/omnigibson/controllers/controller_base.py +++ b/omnigibson/controllers/controller_base.py @@ -65,6 +65,9 @@ class _ControllerBackend: copy = None eye = None view = None + arange = None + where = None + squeeze = None T = None @classmethod @@ -79,7 +82,7 @@ def set_methods(cls, backend): class _ControllerTorchBackend(_ControllerBackend): array = lambda *args: th.tensor(*args, dtype=th.float32) - int_array = lambda *args: th.tensor(*args, dtype=th.int) + int_array = lambda *args: th.tensor(*args, dtype=th.int32) prod = th.prod cat = th.cat zeros = lambda *args: th.zeros(*args, dtype=th.float32) @@ -104,12 +107,15 @@ class _ControllerTorchBackend(_ControllerBackend): copy = lambda arr: arr.clone() eye = th.eye view = lambda arr, shape: arr.view(shape) + arange = th.arange + where = th.where + squeeze = lambda arr, dim=None: arr.squeeze(dim=dim) T = TT class _ControllerNumpyBackend(_ControllerBackend): array = lambda *args: np.array(*args, dtype=np.float32) - int_array = lambda *args: np.array(*args, dtype=int) + int_array = lambda *args: np.array(*args, dtype=np.int32) prod = np.prod cat = np.concatenate zeros = lambda *args: np.zeros(*args, dtype=np.float32) @@ -134,6 +140,9 @@ class _ControllerNumpyBackend(_ControllerBackend): copy = lambda arr: np.array(arr) eye = np.eye view = lambda arr, shape: arr.reshape(shape) + arange = np.arange + where = np.where + squeeze = lambda arr, dim=None: arr.squeeze(axis=dim) T = NT diff --git a/omnigibson/objects/controllable_object.py b/omnigibson/objects/controllable_object.py index a47d50f5f..bcad603a8 100644 --- a/omnigibson/objects/controllable_object.py +++ b/omnigibson/objects/controllable_object.py @@ -493,8 +493,8 @@ def step(self): # Compose controls u_vec = cb.zeros(self.n_dof) - # By default, the control type is None and the control value is 0 (th.zeros) - i.e. no control applied - u_type_vec = cb.array([ControlType.NONE] * self.n_dof) + # By default, the control type is Effort and the control value is 0 (th.zeros) - i.e. no control applied + u_type_vec = cb.array([ControlType.EFFORT] * self.n_dof) for group, ctrl in control.items(): idx = self._controllers[group].dof_idx u_vec[idx] = ctrl["value"] @@ -556,91 +556,28 @@ def deploy_control(self, control, control_type): f"Control signals, control types, and number of DOF should all be the same!" f"Got {len(control)}, {len(control_type)}, and {self.n_dof} respectively." ) - # Cast control type to numpy to avoid having to call .item() individually on torch tensors - control_type = cb.to_numpy(control_type) - - # Set indices manually so that we're standardized - indices = range(self.n_dof) - - # Standardize normalized input - n_indices = len(indices) - - # Loop through controls and deploy - # We have to use delicate logic to account for the edge cases where a single joint may contain > 1 DOF - # (e.g.: spherical joint) - ctrl_to_execute = { - ControlType.EFFORT: { - "vals": [], - "idxs": [], - }, - ControlType.POSITION: { - "vals": [], - "idxs": [], - }, - ControlType.VELOCITY: { - "vals": [], - "idxs": [], - }, - ControlType.NONE: { - "vals": [], - "idxs": [], - }, - } - cur_indices_idx = 0 - while cur_indices_idx != n_indices: - # Grab the current DOF index we're controlling and find the corresponding joint - joint = self._dof_to_joints[indices[cur_indices_idx]] - cur_ctrl_idx = indices[cur_indices_idx] - joint_dof = joint.n_dof - if joint_dof > 1: - # Run additional sanity checks since the joint has more than one DOF to make sure our controls, - # control types, and indices all match as expected - - # Make sure the indices are mapped correctly - assert ( - indices[cur_indices_idx + joint_dof] == cur_ctrl_idx + joint_dof - ), "Got mismatched control indices for a single joint!" - # Check to make sure all joints, control_types, and normalized as all the same over n-DOF for the joint - for group_name, group in zip( - ("joints", "control_types"), - (self._dof_to_joints, control_type), - ): - assert ( - len({group[indices[cur_indices_idx + i]] for i in range(joint_dof)}) == 1 - ), f"Not all {group_name} were the same when trying to deploy control for a single joint!" - # Assuming this all passes, we grab the control subvector, type, and normalized value accordingly - ctrl = control[cur_ctrl_idx : cur_ctrl_idx + joint_dof] - else: - # Grab specific control. No need to do checks since this is a single value - ctrl = control[cur_ctrl_idx] - - # Deploy control based on type - ctrl_type = control_type[ - cur_ctrl_idx - ] # In multi-DOF joint case all values were already checked to be the same - ctrl_to_execute[ctrl_type]["vals"].append(ctrl) - ctrl_to_execute[ctrl_type]["idxs"].append(cur_ctrl_idx) - # Finally, increment the current index based on how many DOFs were just controlled - cur_indices_idx += joint_dof # set the targets for joints - if len(ctrl_to_execute[ControlType.POSITION]) > 0: + pos_idxs = cb.where(control_type == ControlType.POSITION)[0] + if len(pos_idxs) > 0: ControllableObjectViewAPI.set_joint_position_targets( self.articulation_root_path, - positions=cb.array(ctrl_to_execute[ControlType.POSITION]["vals"]), - indices=cb.int_array(ctrl_to_execute[ControlType.POSITION]["idxs"]), + positions=control[pos_idxs], + indices=pos_idxs, ) - if len(ctrl_to_execute[ControlType.VELOCITY]) > 0: + vel_idxs = cb.where(control_type == ControlType.VELOCITY)[0] + if len(vel_idxs) > 0: ControllableObjectViewAPI.set_joint_velocity_targets( self.articulation_root_path, - velocities=cb.array(ctrl_to_execute[ControlType.VELOCITY]["vals"]), - indices=cb.int_array(ctrl_to_execute[ControlType.VELOCITY]["idxs"]), + velocities=control[vel_idxs], + indices=vel_idxs, ) - if len(ctrl_to_execute[ControlType.VELOCITY]) > 0 or len(ctrl_to_execute[ControlType.NONE]) > 0: + eff_idxs = cb.where(control_type == ControlType.EFFORT)[0] + if len(eff_idxs) > 0: ControllableObjectViewAPI.set_joint_efforts( self.articulation_root_path, - efforts=cb.cat([cb.array(ctrl_to_execute[ControlType.EFFORT]["vals"]), cb.array(ctrl_to_execute[ControlType.NONE]["vals"])]), - indices=cb.cat([cb.int_array(ctrl_to_execute[ControlType.EFFORT]["idxs"]), cb.int_array(ctrl_to_execute[ControlType.NONE]["idxs"])]), + efforts=control[eff_idxs], + indices=eff_idxs, ) def get_control_dict(self): diff --git a/omnigibson/utils/usd_utils.py b/omnigibson/utils/usd_utils.py index f80792972..64c0b6e1e 100644 --- a/omnigibson/utils/usd_utils.py +++ b/omnigibson/utils/usd_utils.py @@ -850,21 +850,54 @@ def clear(self): self._read_cache = {} self._write_idx_cache = collections.defaultdict(set) + def _set_dof_position_targets(self, data, indices, cast=True): + # No casting results in better efficiency + if cast: + data = self._view._frontend.as_contiguous_float32(data) + indices = self._view._frontend.as_contiguous_uint32(indices) + data_desc = self._view._frontend.get_tensor_desc(data) + indices_desc = self._view._frontend.get_tensor_desc(indices) + + if not self._view._backend.set_dof_position_targets(data_desc, indices_desc): + raise Exception("Failed to set DOF positions in backend") + + def _set_dof_velocity_targets(self, data, indices, cast=True): + # No casting results in better efficiency + if cast: + data = self._view._frontend.as_contiguous_float32(data) + indices = self._view._frontend.as_contiguous_uint32(indices) + data_desc = self._view._frontend.get_tensor_desc(data) + indices_desc = self._view._frontend.get_tensor_desc(indices) + + if not self._view._backend.set_dof_velocity_targets(data_desc, indices_desc): + raise Exception("Failed to set DOF velocities in backend") + + def _set_dof_actuation_forces(self, data, indices, cast=True): + # No casting results in better efficiency + if cast: + data = self._view._frontend.as_contiguous_float32(data) + indices = self._view._frontend.as_contiguous_uint32(indices) + data_desc = self._view._frontend.get_tensor_desc(data) + indices_desc = self._view._frontend.get_tensor_desc(indices) + + if not self._view._backend.set_dof_actuation_forces(data_desc, indices_desc): + raise Exception("Failed to set DOF actuation forces in backend") + def flush_control(self): if "dof_position_targets" in self._write_idx_cache: pos_indices = cb.int_array(sorted(self._write_idx_cache["dof_position_targets"])) pos_targets = self._read_cache["dof_position_targets"] - self._view.set_dof_position_targets(cb.to_torch(pos_targets), cb.to_torch(pos_indices)) + self._set_dof_position_targets(cb.to_torch(pos_targets), cb.to_torch(pos_indices), cast=False) if "dof_velocity_targets" in self._write_idx_cache: vel_indices = cb.int_array(sorted(self._write_idx_cache["dof_velocity_targets"])) vel_targets = self._read_cache["dof_velocity_targets"] - self._view.set_dof_velocity_targets(cb.to_torch(vel_targets), cb.to_torch(vel_indices)) + self._set_dof_velocity_targets(cb.to_torch(vel_targets), cb.to_torch(vel_indices), cast=False) if "dof_actuation_forces" in self._write_idx_cache: eff_indices = cb.int_array(sorted(self._write_idx_cache["dof_actuation_forces"])) eff_targets = self._read_cache["dof_actuation_forces"] - self._view.set_dof_actuation_forces(cb.to_torch(eff_targets), cb.to_torch(eff_indices)) + self._set_dof_actuation_forces(cb.to_torch(eff_targets), cb.to_torch(eff_indices), cast=False) def initialize_view(self): # First, get all of the controllable objects in the scene (avoiding circular import) @@ -967,45 +1000,58 @@ def get_position_orientation(self, prim_path): else: return self.get_root_transform(prim_path) - def get_linear_velocity(self, prim_path): + def _get_velocities(self, prim_path): if self._base_footprint_link_names[prim_path] is not None: link_name = self._base_footprint_link_names[prim_path] - return self.get_link_linear_velocity(prim_path, link_name) + return self._get_link_velocities(prim_path, link_name) else: - return self.get_root_linear_velocity(prim_path) + return self._get_root_velocities(prim_path) - def get_angular_velocity(self, prim_path): - if self._base_footprint_link_names[prim_path] is not None: - link_name = self._base_footprint_link_names[prim_path] - return self.get_link_angular_velocity(prim_path, link_name) - else: - return self.get_root_angular_velocity(prim_path) + def _get_relative_velocities(self, prim_path): + if "relative_velocities" not in self._read_cache: + self._read_cache["relative_velocities"] = {} - def get_root_linear_velocity(self, prim_path): - if "root_velocities" not in self._read_cache: - self._read_cache["root_velocities"] = cb.from_torch(self._view.get_root_velocities()) + if prim_path not in self._read_cache["relative_velocities"]: + # Compute all tfs at once, including base as well as all links + if "link_velocities" not in self._read_cache: + self._read_cache["link_velocities"] = cb.from_torch(self._view.get_link_velocities()) - idx = self._idx[prim_path] - return self._read_cache["root_velocities"][idx, :3] + idx = self._idx[prim_path] + vels = cb.zeros((len(self._link_idx[idx]) + 1, 6, 1)) + # base vel is the final -1 index + vels[:-1, :, 0] = self._read_cache["link_velocities"][idx, :] + vels[-1, :, 0] = self._get_velocities(prim_path=prim_path) + + tf = cb.zeros((1, 6, 6)) + orn_t = cb.T.quat2mat(self.get_position_orientation(prim_path)[1]).T + tf[0, :3, :3] = orn_t + tf[0, 3:, 3:] = orn_t + # x.T --> transpose (inverse) orientation + # (1, 6, 6) @ (n_links, 6, 1) -> (n_links, 6, 1) -> (n_links, 6) + self._read_cache["relative_velocities"][prim_path] = cb.squeeze(tf @ vels, dim=-1) - def get_root_angular_velocity(self, prim_path): + return self._read_cache["relative_velocities"][prim_path] + + def get_linear_velocity(self, prim_path): + return self._get_velocities(prim_path)[:3] + + def get_angular_velocity(self, prim_path): + return self._get_velocities(prim_path)[3:] + + def _get_root_velocities(self, prim_path): if "root_velocities" not in self._read_cache: self._read_cache["root_velocities"] = cb.from_torch(self._view.get_root_velocities()) idx = self._idx[prim_path] - return self._read_cache["root_velocities"][idx, 3:] + return self._read_cache["root_velocities"][idx] def get_relative_linear_velocity(self, prim_path): - orn = self.get_position_orientation(prim_path)[1] - linvel = self.get_linear_velocity(prim_path) - # x.T --> transpose (inverse) orientation - return cb.T.quat2mat(orn).T @ linvel + # base corresponds to final index + return self._get_relative_velocities(prim_path)[-1, :3] def get_relative_angular_velocity(self, prim_path): - orn = self.get_position_orientation(prim_path)[1] - angvel = self.get_angular_velocity(prim_path) - # x.T --> transpose (inverse) orientation - return cb.T.quat2mat(orn).T @ angvel + # base corresponds to final index + return self._get_relative_velocities(prim_path)[-1, 3:] def get_joint_positions(self, prim_path): if "dof_positions" not in self._read_cache: @@ -1058,54 +1104,67 @@ def get_link_transform(self, prim_path, link_name): pose = self._read_cache["link_transforms"][idx, link_idx] return pose[:3], pose[3:] - def get_link_relative_position_orientation(self, prim_path, link_name): - pos, orn = self.get_link_transform(prim_path, link_name) + def _get_relative_poses(self, prim_path): + if "relative_poses" not in self._read_cache: + self._read_cache["relative_poses"] = {} - # Get the root world transform too - world_pos, world_orn = self.get_position_orientation(prim_path) + if prim_path not in self._read_cache["relative_poses"]: + # Compute all tfs at once, including base as well as all links + if "link_transforms" not in self._read_cache: + self._read_cache["link_transforms"] = cb.from_torch(self._view.get_link_transforms()) - # Compute the relative position and orientation - return cb.T.relative_pose_transform(pos, orn, world_pos, world_orn) + idx = self._idx[prim_path] + tfs = cb.zeros((len(self._link_idx[idx]), 4, 4)) + # base vel is the final -1 index + link_tfs = self._read_cache["link_transforms"][idx, :] + tfs[:, 3, 3] = 1.0 + tfs[:, :3, 3] = link_tfs[:, :3] + tfs[:, :3, :3] = cb.T.quat2mat(link_tfs[:, 3:]) + base_tf_inv = cb.zeros((1, 4, 4)) + base_tf_inv[0, :, :] = cb.T.pose_inv(cb.T.pose2mat(self.get_position_orientation(prim_path=prim_path))) - def get_link_linear_velocity(self, prim_path, link_name): - if "link_velocities" not in self._read_cache: - self._read_cache["link_velocities"] = cb.from_torch(self._view.get_link_velocities()) + # (1, 4, 4) @ (n_links, 4, 4) -> (n_links, 4, 4) + rel_tfs = base_tf_inv @ tfs - idx = self._idx[prim_path] - link_idx = self._link_idx[idx][link_name] - vel = self._read_cache["link_velocities"][idx, link_idx] - linvel = vel[:3] - - return linvel - - def get_link_relative_linear_velocity(self, prim_path, link_name): - linvel = self.get_link_linear_velocity(prim_path, link_name) + # Re-convert to quat form + rel_poses = cb.zeros((len(self._link_idx[idx]), 7)) + rel_poses[:, :3] = rel_tfs[:, :3, 3] + rel_poses[:, 3:] = cb.T.mat2quat(rel_tfs[:, :3, :3]) + self._read_cache["relative_poses"][prim_path] = rel_poses - # Get the root world transform too - _, world_orn = self.get_position_orientation(prim_path) + return self._read_cache["relative_poses"][prim_path] - # Compute the relative position and orientation - return cb.T.quat2mat(world_orn).T @ linvel + def get_link_relative_position_orientation(self, prim_path, link_name): + idx = self._idx[prim_path] + link_idx = self._link_idx[idx][link_name] + rel_pose = self._get_relative_poses(prim_path)[link_idx] + return rel_pose[:3], rel_pose[3:] - def get_link_angular_velocity(self, prim_path, link_name): + def _get_link_velocities(self, prim_path, link_name): if "link_velocities" not in self._read_cache: self._read_cache["link_velocities"] = cb.from_torch(self._view.get_link_velocities()) idx = self._idx[prim_path] link_idx = self._link_idx[idx][link_name] vel = self._read_cache["link_velocities"][idx, link_idx] - angvel = vel[3:] - return angvel + return vel - def get_link_relative_angular_velocity(self, prim_path, link_name): - angvel = self.get_link_angular_velocity(prim_path, link_name) + def get_link_linear_velocity(self, prim_path, link_name): + return self._get_link_velocities(prim_path, link_name)[:3] - # Get the root world transform too - _, world_orn = self.get_position_orientation(prim_path) + def get_link_relative_linear_velocity(self, prim_path, link_name): + idx = self._idx[prim_path] + link_idx = self._link_idx[idx][link_name] + return self._get_relative_velocities(prim_path)[link_idx, :3] - # Compute the relative position and orientation - return cb.T.quat2mat(world_orn).T @ angvel + def get_link_angular_velocity(self, prim_path, link_name): + return self._get_link_velocities(prim_path, link_name)[3:] + + def get_link_relative_angular_velocity(self, prim_path, link_name): + idx = self._idx[prim_path] + link_idx = self._link_idx[idx][link_name] + return self._get_relative_velocities(prim_path)[link_idx, 3:] def get_jacobian(self, prim_path): if "jacobians" not in self._read_cache: @@ -1115,14 +1174,21 @@ def get_jacobian(self, prim_path): return self._read_cache["jacobians"][idx] def get_relative_jacobian(self, prim_path): - jacobian = self.get_jacobian(prim_path) - ori_t = cb.T.quat2mat(self.get_position_orientation(prim_path)[1]).T - tf = cb.zeros((1, 6, 6)) - tf[:, :3, :3] = ori_t - tf[:, 3:, 3:] = ori_t - # Run this explicitly in pytorch since it's order of magnitude faster than numpy! - # e.g.: 2e-4 vs. 3e-5 on R1 - return cb.from_torch(cb.to_torch(tf) @ cb.to_torch(jacobian)) + if "relative_jacobians" not in self._read_cache: + self._read_cache["relative_jacobians"] = {} + + if prim_path not in self._read_cache["relative_jacobians"]: + jacobian = self.get_jacobian(prim_path) + ori_t = cb.T.quat2mat(self.get_position_orientation(prim_path)[1]).T + tf = cb.zeros((1, 6, 6)) + tf[:, :3, :3] = ori_t + tf[:, 3:, 3:] = ori_t + # Run this explicitly in pytorch since it's order of magnitude faster than numpy! + # e.g.: 2e-4 vs. 3e-5 on R1 + rel_jac = cb.from_torch(cb.to_torch(tf) @ cb.to_torch(jacobian)) + self._read_cache["relative_jacobians"][prim_path] = rel_jac + + return self._read_cache["relative_jacobians"][prim_path] class ControllableObjectViewAPI: From 54a351d10567bb9cde542a66c01f677fcd4b942a Mon Sep 17 00:00:00 2001 From: hang-yin Date: Wed, 4 Dec 2024 16:12:19 -0800 Subject: [PATCH 26/55] Allow headset to follow xformprim --- omnigibson/utils/teleop_utils.py | 89 ++++++++++++++++++++++---------- 1 file changed, 61 insertions(+), 28 deletions(-) diff --git a/omnigibson/utils/teleop_utils.py b/omnigibson/utils/teleop_utils.py index 866a213fe..342b2ce8f 100644 --- a/omnigibson/utils/teleop_utils.py +++ b/omnigibson/utils/teleop_utils.py @@ -10,6 +10,7 @@ import omnigibson.utils.transform_utils as T from omnigibson.macros import create_module_macros from omnigibson.objects import USDObject +from omnigibson.prims.xform_prim import XFormPrim from omnigibson.robots.robot_base import BaseRobot from omnigibson.sensors import VisionSensor from omnigibson.utils.control_utils import IKSolver @@ -156,12 +157,20 @@ def __init__( align_anchor_to (Literal): specify where the VR view aligns to, one of ["camera", "base", "touchpad"], defaults to robot camera. The "touchpad" option enables free movement of the VR view (i.e. the user), while the other two constrain the VR view to the either the robot base or camera pose. """ - assert align_anchor_to in [ - "camera", - "base", - "touchpad", - ], "align_anchor_to must be one of ['camera', 'base', 'touchpad']" + align_to_prim = isinstance(align_anchor_to, XFormPrim) + assert ( + align_anchor_to + in [ + "camera", + "base", + "touchpad", + ] + or align_to_prim + ), "align_anchor_to must be one of ['camera', 'base', 'touchpad'] or a XFormPrim" self.align_anchor_to = align_anchor_to + self.anchor_prim = None + if align_to_prim: + self.set_anchor_with_prim(self.align_anchor_to) self.raw_data = {} # enable xr extension lazy.omni.isaac.core.utils.extensions.enable_extension("omni.kit.xr.profile.vr") @@ -226,6 +235,14 @@ def __init__( # eef_name=self.robot.eef_link_names[arm], # ) + def set_anchor_with_prim(self, prim) -> None: + """ + Set the anchor to a prim + Args: + prim (BasePrim): the prim to set the anchor to + """ + self.anchor_prim = prim + def xr2og(self, transform: th.tensor) -> Tuple[th.tensor, th.tensor]: """ Apply the orientation offset from the Omniverse XR coordinate system to the OmniGibson coordinate system @@ -306,10 +323,10 @@ def update(self) -> None: """ # update raw data self._update_devices() - self._update_device_transforms() - self._update_button_data() # Update teleop data based on controller input if self.eef_tracking_mode == "controller": + self._update_device_transforms() + self._update_button_data() # update eef related info for arm_name, arm in zip(["left", "right"], self.robot_arms): if arm in self.controllers: @@ -337,23 +354,26 @@ def update(self) -> None: ) else: self.teleop_action.is_valid[arm_name] = False - # update base, torso, and reset info - self.teleop_action.base = th.zeros(3) - self.teleop_action.torso = 0.0 - for controller_name in self.controllers.keys(): - self.teleop_action.reset[controller_name] = self.raw_data["button_data"][controller_name]["press"]["grip"] - axis = self.raw_data["button_data"][controller_name]["axis"] - if controller_name == "right": - self.teleop_action.base[0] = axis["touchpad_y"] * self.movement_speed - self.teleop_action.torso = -axis["touchpad_x"] * self.movement_speed - elif controller_name == "left": - self.teleop_action.base[1] = -axis["touchpad_x"] * self.movement_speed - self.teleop_action.base[2] = axis["touchpad_y"] * self.movement_speed - # update head related info - self.teleop_action.head = th.cat( - (self.raw_data["transforms"]["head"][0], T.quat2euler(self.raw_data["transforms"]["head"][1])) - ) - self.teleop_action.is_valid["head"] = self._is_valid_transform(self.raw_data["transforms"]["head"]) + + # update base, torso, and reset info + self.teleop_action.base = th.zeros(3) + self.teleop_action.torso = 0.0 + for controller_name in self.controllers.keys(): + self.teleop_action.reset[controller_name] = self.raw_data["button_data"][controller_name]["press"][ + "grip" + ] + axis = self.raw_data["button_data"][controller_name]["axis"] + if controller_name == "right": + self.teleop_action.base[0] = axis["touchpad_y"] * self.movement_speed + self.teleop_action.torso = -axis["touchpad_x"] * self.movement_speed + elif controller_name == "left": + self.teleop_action.base[1] = -axis["touchpad_x"] * self.movement_speed + self.teleop_action.base[2] = axis["touchpad_y"] * self.movement_speed + # update head related info + self.teleop_action.head = th.cat( + (self.raw_data["transforms"]["head"][0], T.quat2euler(self.raw_data["transforms"]["head"][1])) + ) + self.teleop_action.is_valid["head"] = self._is_valid_transform(self.raw_data["transforms"]["head"]) # align anchor if self.align_anchor_to == "touchpad": @@ -364,9 +384,15 @@ def update(self) -> None: else: # Only align anchor when there's base movement # if th.any(self.teleop_action.base != 0): - reference_frame = ( - self.robot if self.align_anchor_to == "base" else self.robot_cameras[self.active_camera_id] - ) + if self.anchor_prim is not None: + reference_frame = self.anchor_prim + elif self.align_anchor_to == "camera": + reference_frame = self.robot_cameras[self.active_camera_id] + elif self.align_anchor_to == "base": + reference_frame = self.robot + else: + raise ValueError(f"Invalid anchor: {self.align_anchor_to}") + anchor_pos, anchor_orn = reference_frame.get_position_orientation() anchor_pose = self.og2xr(anchor_pos, anchor_orn) @@ -431,7 +457,14 @@ def reset_head_transform(self) -> None: pos = th.tensor([0.0, 0.0, 1.0]) orn = th.tensor([0.0, 0.0, 0.0, 1.0]) else: - reference_frame = self.robot if self.align_anchor_to == "base" else self.robot_cameras[0] + if self.anchor_prim is not None: + reference_frame = self.anchor_prim + elif self.align_anchor_to == "camera": + reference_frame = self.robot_cameras[self.active_camera_id] + elif self.align_anchor_to == "base": + reference_frame = self.robot + else: + raise ValueError(f"Invalid anchor: {self.align_anchor_to}") pos, orn = reference_frame.get_position_orientation() self.robot.keep_still() self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device( From 6787df3d63796f3ee8332e3d5ff74e101066d782 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 4 Dec 2024 16:44:29 -0800 Subject: [PATCH 27/55] optimize controller computation functions --- omnigibson/controllers/ik_controller.py | 131 +++++++++++++++------ omnigibson/controllers/joint_controller.py | 59 +++++++++- omnigibson/controllers/osc_controller.py | 2 +- 3 files changed, 152 insertions(+), 40 deletions(-) diff --git a/omnigibson/controllers/ik_controller.py b/omnigibson/controllers/ik_controller.py index 3e2c46d94..88bd506a5 100644 --- a/omnigibson/controllers/ik_controller.py +++ b/omnigibson/controllers/ik_controller.py @@ -1,5 +1,6 @@ import math from collections.abc import Iterable +from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerTorchBackend, _ControllerNumpyBackend from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.controllers import ControlType, ManipulationController @@ -270,8 +271,8 @@ def _update_goal(self, command, control_dict): target_pos, target_quat = self.workspace_pose_limiter(target_pos, target_quat, control_dict) goal_dict = dict( - target_pos=target_pos, - target_quat=target_quat, + target_pos=cb.as_float32(target_pos), + target_ori_mat=cb.as_float32(cb.T.quat2mat(target_quat)), ) return goal_dict @@ -285,7 +286,7 @@ def compute_control(self, goal_dict, control_dict): goal_dict (Dict[str, Any]): dictionary that should include any relevant keyword-mapped goals necessary for controller computation. Must include the following keys: target_pos: robot-frame (x,y,z) desired end effector position - target_quat: robot-frame (x,y,z,w) desired end effector quaternion orientation + target_ori_mat: robot-frame desired end effector quaternion orientation matrix control_dict (Dict[str, Any]): dictionary that should include any relevant keyword-mapped states necessary for controller computation. Must include the following keys: joint_position: Array of current joint positions @@ -299,37 +300,23 @@ def compute_control(self, goal_dict, control_dict): Returns: Array[float]: outputted (non-clipped!) velocity control signal to deploy """ - # Grab important info from control dict - pos_relative = control_dict[f"{self.task_name}_pos_relative"] - quat_relative = control_dict[f"{self.task_name}_quat_relative"] - target_pos = goal_dict["target_pos"] - target_quat = goal_dict["target_quat"] - # Calculate and return IK-backed out joint angles - current_joint_pos = control_dict["joint_position"][self.dof_idx] - - # If the delta is really small, we just keep the current joint position. This avoids joint - # drift caused by IK solver inaccuracy even when zero delta actions are provided. - if cb.allclose(pos_relative, target_pos, atol=1e-4) and cb.allclose(quat_relative, target_quat, atol=1e-4): - target_joint_pos = current_joint_pos - else: - # Compute the pose error. Note that this is computed NOT in the EEF frame but still - # in the base frame. - pos_err = target_pos - pos_relative - ori_err = cb.T.orientation_error(cb.T.quat2mat(target_quat), cb.T.quat2mat(quat_relative)) - err = cb.cat([pos_err, ori_err]) - - # Use the jacobian to compute a local approximation - j_eef = control_dict[f"{self.task_name}_jacobian_relative"][:, self.dof_idx] - j_eef_pinv = cb.pinv(j_eef) - delta_j = j_eef_pinv @ err - target_joint_pos = current_joint_pos + delta_j - - # Clip values to be within the joint limits - target_joint_pos = target_joint_pos.clip( - min=self._control_limits[ControlType.get_type("position")][0][self.dof_idx], - max=self._control_limits[ControlType.get_type("position")][1][self.dof_idx], - ) + q = control_dict["joint_position"][self.dof_idx] + j_eef = control_dict[f"{self.task_name}_jacobian_relative"][:, self.dof_idx] + ee_pos = control_dict[f"{self.task_name}_pos_relative"] + ee_quat = control_dict[f"{self.task_name}_quat_relative"] + + # Calculate desired joint positions + target_joint_pos = cb.compute_ik_qpos( + q=q, + j_eef=j_eef, + ee_pos=cb.as_float32(ee_pos), + ee_mat=cb.as_float32(cb.T.quat2mat(ee_quat)), + goal_pos=goal_dict["target_pos"], + goal_ori_mat=goal_dict["target_ori_mat"], + q_lower_limit=self._control_limits[ControlType.get_type("position")][0][self.dof_idx], + q_upper_limit=self._control_limits[ControlType.get_type("position")][1][self.dof_idx], + ) # Optionally pass through smoothing filter for better stability if self.control_filter is not None: @@ -340,9 +327,13 @@ def compute_control(self, goal_dict, control_dict): def compute_no_op_goal(self, control_dict): # No-op is maintaining current pose + target_pos = cb.copy(control_dict[f"{self.task_name}_pos_relative"]) + target_quat = cb.copy(control_dict[f"{self.task_name}_quat_relative"]) + + # Convert quat into eef ori mat return dict( - target_pos=control_dict[f"{self.task_name}_pos_relative"], - target_quat=control_dict[f"{self.task_name}_quat_relative"], + target_pos=cb.as_float32(target_pos), + target_ori_mat=cb.as_float32(cb.T.quat2mat(target_quat)), ) def _compute_no_op_action(self, control_dict): @@ -370,9 +361,77 @@ def _compute_no_op_action(self, control_dict): def _get_goal_shapes(self): return dict( target_pos=(3,), - target_quat=(4,), + target_ori_mat=(3, 3), ) @property def command_dim(self): return IK_MODE_COMMAND_DIMS[self.mode] + + +import torch as th +import omnigibson.utils.transform_utils as TT +@th.jit.script +def _compute_ik_qpos_torch( + q: th.Tensor, + j_eef: th.Tensor, + ee_pos: th.Tensor, + ee_mat: th.Tensor, + goal_pos: th.Tensor, + goal_ori_mat: th.Tensor, + q_lower_limit: th.Tensor, + q_upper_limit: th.Tensor, +): + # Compute the pose error. Note that this is computed NOT in the EEF frame but still + # in the base frame. + pos_err = goal_pos - ee_pos + ori_err = TT.orientation_error(goal_ori_mat, ee_mat) + err = th.cat([pos_err, ori_err]) + + # Use the jacobian to compute a local approximation + j_eef_pinv = th.linalg.pinv(j_eef) + delta_j = j_eef_pinv @ err + target_joint_pos = q + delta_j + + # Clip values to be within the joint limits + return target_joint_pos.clip( + min=q_lower_limit, + max=q_upper_limit, + ) + + +import numpy as np +from numba import jit +import omnigibson.utils.transform_utils_np as NT +# Use numba since faster +@jit(nopython=True) +def _compute_ik_qpos_numpy( + q, + j_eef, + ee_pos, + ee_mat, + goal_pos, + goal_ori_mat, + q_lower_limit, + q_upper_limit, +): + # Compute the pose error. Note that this is computed NOT in the EEF frame but still + # in the base frame. + pos_err = goal_pos - ee_pos + ori_err = NT.orientation_error(goal_ori_mat, ee_mat).astype(np.float32) + err = np.concatenate((pos_err, ori_err)) + + # Use the jacobian to compute a local approximation + j_eef_pinv = np.linalg.pinv(j_eef) + delta_j = j_eef_pinv @ err + target_joint_pos = q + delta_j + + # Clip values to be within the joint limits + return target_joint_pos.clip(q_lower_limit, q_upper_limit) + + +# Set these as part of the backend values +setattr(_ControllerBackend, "compute_ik_qpos", None) +setattr(_ControllerTorchBackend, "compute_ik_qpos", _compute_ik_qpos_torch) +setattr(_ControllerNumpyBackend, "compute_ik_qpos", _compute_ik_qpos_numpy) + diff --git a/omnigibson/controllers/joint_controller.py b/omnigibson/controllers/joint_controller.py index 31bb3f5aa..662422741 100644 --- a/omnigibson/controllers/joint_controller.py +++ b/omnigibson/controllers/joint_controller.py @@ -1,5 +1,6 @@ import math +from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerTorchBackend, _ControllerNumpyBackend from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.controllers import ( ControlType, @@ -210,9 +211,7 @@ def compute_control(self, goal_dict, control_dict): else: # effort u = target - dof_idxs_mat = cb.meshgrid(self.dof_idx, self.dof_idx) - mm = control_dict["mass_matrix"][dof_idxs_mat] - u = mm @ u + u = cb.compute_joint_torques(u, control_dict["mass_matrix"], self.dof_idx) # Add gravity compensation if self._use_gravity_compensation: @@ -284,3 +283,57 @@ def control_type(self): @property def command_dim(self): return len(self.dof_idx) + + +import torch as th +@th.compile +def _compute_joint_torques_torch( + u: th.Tensor, + mm: th.Tensor, + dof_idx: th.Tensor, +): + dof_idxs_mat = th.meshgrid(dof_idx, dof_idx, indexing="xy") + return mm[dof_idxs_mat] @ u + + + +import numpy as np +from numba import jit +# Use numba since faster +@jit(nopython=True) +def numba_ix(arr, rows, cols): + """ + Numba compatible implementation of arr[np.ix_(rows, cols)] for 2D arrays. + + Implementation from: + https://github.com/numba/numba/issues/5894#issuecomment-974701551 + + :param arr: 2D array to be indexed + :param rows: Row indices + :param cols: Column indices + :return: 2D array with the given rows and columns of the input array + """ + one_d_index = np.zeros(len(rows) * len(cols), dtype=np.int32) + for i, r in enumerate(rows): + start = i * len(cols) + one_d_index[start: start + len(cols)] = cols + arr.shape[1] * r + + arr_1d = arr.reshape((arr.shape[0] * arr.shape[1], 1)) + slice_1d = np.take(arr_1d, one_d_index) + return slice_1d.reshape((len(rows), len(cols))) + + +@jit(nopython=True) +def _compute_joint_torques_numpy( + u, + mm, + dof_idx, +): + return numba_ix(mm, dof_idx, dof_idx) @ u + + +# Set these as part of the backend values +setattr(_ControllerBackend, "compute_joint_torques", None) +setattr(_ControllerTorchBackend, "compute_joint_torques", _compute_joint_torques_torch) +setattr(_ControllerNumpyBackend, "compute_joint_torques", _compute_joint_torques_numpy) + diff --git a/omnigibson/controllers/osc_controller.py b/omnigibson/controllers/osc_controller.py index 539a89bef..dc74f1178 100644 --- a/omnigibson/controllers/osc_controller.py +++ b/omnigibson/controllers/osc_controller.py @@ -362,7 +362,7 @@ def compute_control(self, goal_dict, control_dict): goal_dict (Dict[str, Any]): dictionary that should include any relevant keyword-mapped goals necessary for controller computation. Must include the following keys: target_pos: robot-frame (x,y,z) desired end effector position - target_quat: robot-frame (x,y,z,w) desired end effector quaternion orientation + target_ori_mat: robot-frame desired end effector quaternion orientation matrix control_dict (Dict[str, Any]): dictionary that should include any relevant keyword-mapped states necessary for controller computation. Must include the following keys: joint_position: Array of current joint positions From 692df78a0e226ecb31188f531a767309dd323fa4 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 4 Dec 2024 16:45:27 -0800 Subject: [PATCH 28/55] cache properties that should not change during runtime --- omnigibson/objects/object_base.py | 2 +- omnigibson/prims/cloth_prim.py | 3 ++- omnigibson/prims/entity_prim.py | 2 +- omnigibson/prims/joint_prim.py | 16 +++++++++++---- omnigibson/robots/a1.py | 11 +++++----- omnigibson/robots/active_camera_robot.py | 2 +- omnigibson/robots/articulated_trunk_robot.py | 6 +++--- omnigibson/robots/behavior_robot.py | 17 ++++++++-------- omnigibson/robots/fetch.py | 21 ++++++++++---------- omnigibson/robots/franka.py | 13 ++++++------ omnigibson/robots/freight.py | 3 ++- omnigibson/robots/holonomic_base_robot.py | 4 ++-- omnigibson/robots/husky.py | 3 ++- omnigibson/robots/locobot.py | 3 ++- omnigibson/robots/locomotion_robot.py | 8 ++++---- omnigibson/robots/manipulation_robot.py | 18 ++++++++--------- omnigibson/robots/r1.py | 17 ++++++++-------- omnigibson/robots/stretch.py | 15 +++++++------- omnigibson/robots/tiago.py | 21 ++++++++++---------- omnigibson/robots/turtlebot.py | 3 ++- omnigibson/robots/vx300s.py | 13 ++++++------ 21 files changed, 111 insertions(+), 90 deletions(-) diff --git a/omnigibson/objects/object_base.py b/omnigibson/objects/object_base.py index c34231551..a4101b42f 100644 --- a/omnigibson/objects/object_base.py +++ b/omnigibson/objects/object_base.py @@ -234,7 +234,7 @@ def _initialize(self): "emissive_intensity": material.emissive_intensity, } - @property + @cached_property def articulation_root_path(self): has_articulated_joints, has_fixed_joints = self.n_joints > 0, self.n_fixed_joints > 0 if self.kinematic_only or ((not has_articulated_joints) and (not has_fixed_joints)): diff --git a/omnigibson/prims/cloth_prim.py b/omnigibson/prims/cloth_prim.py index 0177d8fab..9c416eaeb 100644 --- a/omnigibson/prims/cloth_prim.py +++ b/omnigibson/prims/cloth_prim.py @@ -9,6 +9,7 @@ import math from collections.abc import Iterable +from functools import cached_property import torch as th @@ -160,7 +161,7 @@ def n_particles(self): """ return self._n_particles - @property + @cached_property def kinematic_only(self): """ Returns: diff --git a/omnigibson/prims/entity_prim.py b/omnigibson/prims/entity_prim.py index 6676097fc..b1dc20cc1 100644 --- a/omnigibson/prims/entity_prim.py +++ b/omnigibson/prims/entity_prim.py @@ -1399,7 +1399,7 @@ def self_collisions(self, flag): self.articulation_root_path, "physxArticulation:enabledSelfCollisions", flag ) - @property + @cached_property def kinematic_only(self): """ Returns: diff --git a/omnigibson/prims/joint_prim.py b/omnigibson/prims/joint_prim.py index 18ac6a867..c3769231b 100644 --- a/omnigibson/prims/joint_prim.py +++ b/omnigibson/prims/joint_prim.py @@ -75,6 +75,8 @@ def __init__( self._joint_type = None self._control_type = None self._driven = None + self._body0 = None + self._body1 = None # The following values will only be valid if this joint is part of an articulation self._n_dof = None # The number of degrees of freedom this joint provides @@ -232,8 +234,10 @@ def body0(self): None or str: Absolute prim path to the body prim to set as this joint's parent link, or None if there is no body0 specified. """ - targets = self._prim.GetRelationship("physics:body0").GetTargets() - return targets[0].__str__() if len(targets) > 0 else None + if self._body0 is None: + targets = self._prim.GetRelationship("physics:body0").GetTargets() + self._body0 = targets[0].__str__() + return self._body0 @body0.setter def body0(self, body0): @@ -246,6 +250,7 @@ def body0(self, body0): # Make sure prim path is valid assert lazy.omni.isaac.core.utils.prims.is_prim_path_valid(body0), f"Invalid body0 path specified: {body0}" self._prim.GetRelationship("physics:body0").SetTargets([lazy.pxr.Sdf.Path(body0)]) + self._body0 = None @property def body1(self): @@ -256,8 +261,10 @@ def body1(self): None or str: Absolute prim path to the body prim to set as this joint's child link, or None if there is no body1 specified. """ - targets = self._prim.GetRelationship("physics:body1").GetTargets() - return targets[0].__str__() + if self._body1 is None: + targets = self._prim.GetRelationship("physics:body1").GetTargets() + self._body1 = targets[0].__str__() + return self._body1 @body1.setter def body1(self, body1): @@ -270,6 +277,7 @@ def body1(self, body1): # Make sure prim path is valid assert lazy.omni.isaac.core.utils.prims.is_prim_path_valid(body1), f"Invalid body1 path specified: {body1}" self._prim.GetRelationship("physics:body1").SetTargets([lazy.pxr.Sdf.Path(body1)]) + self._body1 = None @property def local_orientation(self): diff --git a/omnigibson/robots/a1.py b/omnigibson/robots/a1.py index 1b3e233c2..fcfd6370f 100644 --- a/omnigibson/robots/a1.py +++ b/omnigibson/robots/a1.py @@ -1,4 +1,5 @@ import os +from functools import cached_property import torch as th @@ -167,23 +168,23 @@ def _default_joint_pos(self): def finger_lengths(self): return {self.default_arm: 0.087} - @property + @cached_property def arm_link_names(self): return {self.default_arm: [f"arm_seg{i+1}" for i in range(5)]} - @property + @cached_property def arm_joint_names(self): return {self.default_arm: [f"arm_joint{i+1}" for i in range(6)]} - @property + @cached_property def eef_link_names(self): return {self.default_arm: self._eef_link_names} - @property + @cached_property def finger_link_names(self): return {self.default_arm: self._finger_link_names} - @property + @cached_property def finger_joint_names(self): return {self.default_arm: self._finger_joint_names} diff --git a/omnigibson/robots/active_camera_robot.py b/omnigibson/robots/active_camera_robot.py index 3bf8317d2..6d330b489 100644 --- a/omnigibson/robots/active_camera_robot.py +++ b/omnigibson/robots/active_camera_robot.py @@ -115,7 +115,7 @@ def _default_controller_config(self): return cfg - @property + @cached_property @abstractmethod def camera_joint_names(self): """ diff --git a/omnigibson/robots/articulated_trunk_robot.py b/omnigibson/robots/articulated_trunk_robot.py index 3323db110..d4906c65f 100644 --- a/omnigibson/robots/articulated_trunk_robot.py +++ b/omnigibson/robots/articulated_trunk_robot.py @@ -34,15 +34,15 @@ def get_control_dict(self): return fcns - @property + @cached_property def trunk_links(self): return [self.links[name] for name in self.trunk_link_names] - @property + @cached_property def trunk_link_names(self): raise NotImplementedError - @property + @cached_property def trunk_joint_names(self): raise NotImplementedError("trunk_joint_names must be implemented in subclass") diff --git a/omnigibson/robots/behavior_robot.py b/omnigibson/robots/behavior_robot.py index b41aa0cf3..7d3693412 100644 --- a/omnigibson/robots/behavior_robot.py +++ b/omnigibson/robots/behavior_robot.py @@ -1,4 +1,5 @@ import itertools +from functools import cached_property import math import os from abc import ABC @@ -153,18 +154,18 @@ def n_arms(cls): def arm_names(cls): return ["left", "right"] - @property + @cached_property def eef_link_names(self): dic = {arm: f"{arm}_{m.PALM_LINK_NAME}" for arm in self.arm_names} dic["head"] = "head" return dic - @property + @cached_property def arm_link_names(self): """The head counts as a arm since it has the same 33 joint configuration""" return {arm: [f"{arm}_{component}" for component in m.COMPONENT_SUFFIXES] for arm in self.arm_names + ["head"]} - @property + @cached_property def finger_link_names(self): return { arm: [ @@ -173,22 +174,22 @@ def finger_link_names(self): for arm in self.arm_names } - @property + @cached_property def base_joint_names(self): return [f"base_{component}_joint" for component in m.COMPONENT_SUFFIXES] - @property + @cached_property def camera_joint_names(self): return [f"head_{component}_joint" for component in m.COMPONENT_SUFFIXES] - @property + @cached_property def arm_joint_names(self): """The head counts as a arm since it has the same 33 joint configuration""" return { eef: [f"{eef}_{component}_joint" for component in m.COMPONENT_SUFFIXES] for eef in self.arm_names + ["head"] } - @property + @cached_property def finger_joint_names(self): return { arm: ( @@ -352,7 +353,7 @@ def update_controller_mode(self): self.joints[joint_name].max_effort = m.FINGER_JOINT_MAX_EFFORT self.joints[joint_name].max_velocity = m.FINGER_JOINT_MAX_VELOCITY - @property + @cached_property def base_footprint_link_name(self): """ Name of the actual root link that we are interested in. diff --git a/omnigibson/robots/fetch.py b/omnigibson/robots/fetch.py index 0fd6496b2..4d6a199a0 100644 --- a/omnigibson/robots/fetch.py +++ b/omnigibson/robots/fetch.py @@ -1,5 +1,6 @@ import math import os +from functools import cached_property import torch as th @@ -271,19 +272,19 @@ def disabled_collision_pairs(self): ["wrist_roll_link", "gripper_link"], ] - @property + @cached_property def base_joint_names(self): return ["l_wheel_joint", "r_wheel_joint"] - @property + @cached_property def camera_joint_names(self): return ["head_pan_joint", "head_tilt_joint"] - @property + @cached_property def trunk_joint_names(self): return ["torso_lift_joint"] - @property + @cached_property def manipulation_link_names(self): return [ "torso_lift_link", @@ -301,7 +302,7 @@ def manipulation_link_names(self): "r_gripper_finger_link", ] - @property + @cached_property def arm_link_names(self): return { self.default_arm: [ @@ -315,7 +316,7 @@ def arm_link_names(self): ] } - @property + @cached_property def arm_joint_names(self): return { self.default_arm: [ @@ -329,21 +330,21 @@ def arm_joint_names(self): ] } - @property + @cached_property def eef_link_names(self): return {self.default_arm: "gripper_link"} - @property + @cached_property def finger_link_names(self): return {self.default_arm: ["r_gripper_finger_link", "l_gripper_finger_link"]} - @property + @cached_property def finger_joint_names(self): return {self.default_arm: ["r_gripper_finger_joint", "l_gripper_finger_joint"]} @property def usd_path(self): - return os.path.join(gm.ASSET_PATH, "models/fetch/fetch/fetch.usd") + return os.path.join(gm.ASSET_PATH, "models/fetch/fetch/fetch.usda") @property def robot_arm_descriptor_yamls(self): diff --git a/omnigibson/robots/franka.py b/omnigibson/robots/franka.py index 358d4c2bd..33b825ea5 100644 --- a/omnigibson/robots/franka.py +++ b/omnigibson/robots/franka.py @@ -1,4 +1,5 @@ import os +from functools import cached_property import torch as th @@ -231,23 +232,23 @@ def _default_joint_pos(self): def finger_lengths(self): return {self.default_arm: 0.1} - @property + @cached_property def arm_link_names(self): return {self.default_arm: [f"panda_link{i}" for i in range(8)]} - @property + @cached_property def arm_joint_names(self): return {self.default_arm: [f"panda_joint{i+1}" for i in range(7)]} - @property + @cached_property def eef_link_names(self): return {self.default_arm: self._eef_link_names} - @property + @cached_property def finger_link_names(self): return {self.default_arm: self._finger_link_names} - @property + @cached_property def finger_joint_names(self): return {self.default_arm: self._finger_joint_names} @@ -271,7 +272,7 @@ def curobo_path(self): ), f"Only franka_panda is currently supported for curobo. Got: {self._model_name}" return os.path.join(gm.ASSET_PATH, f"models/franka/{self.model_name}_description_curobo.yaml") - @property + @cached_property def curobo_attached_object_link_names(self): return {self._eef_link_names: "attached_object"} diff --git a/omnigibson/robots/freight.py b/omnigibson/robots/freight.py index 0b3df7ff4..abc44e89b 100644 --- a/omnigibson/robots/freight.py +++ b/omnigibson/robots/freight.py @@ -1,4 +1,5 @@ import os +from functools import cached_property import torch as th @@ -37,7 +38,7 @@ def wheel_radius(self): def wheel_axle_length(self): return 0.372 - @property + @cached_property def base_joint_names(self): return ["r_wheel_joint", "l_wheel_joint"] diff --git a/omnigibson/robots/holonomic_base_robot.py b/omnigibson/robots/holonomic_base_robot.py index 7a230ddf4..915d595d3 100644 --- a/omnigibson/robots/holonomic_base_robot.py +++ b/omnigibson/robots/holonomic_base_robot.py @@ -186,7 +186,7 @@ def base_idx(self): [joints.index(f"base_footprint_{component}_joint") for component in ["x", "y", "z", "rx", "ry", "rz"]] ) - @property + @cached_property def base_joint_names(self): return [f"base_footprint_{component}_joint" for component in ("x", "y", "rz")] @@ -330,7 +330,7 @@ def teleop_data_to_action(self, teleop_action) -> th.Tensor: action[self.base_action_idx] = th.tensor(teleop_action.base).float() * 0.1 return action - @property + @cached_property def base_footprint_link_name(self): raise NotImplementedError("base_footprint_link_name is not implemented for HolonomicBaseRobot") diff --git a/omnigibson/robots/husky.py b/omnigibson/robots/husky.py index fe036e452..2cc829bea 100644 --- a/omnigibson/robots/husky.py +++ b/omnigibson/robots/husky.py @@ -1,4 +1,5 @@ import os +from functools import cached_property import torch as th @@ -23,7 +24,7 @@ def wheel_radius(self): def wheel_axle_length(self): return 0.670 - @property + @cached_property def base_joint_names(self): return ["front_left_wheel", "front_right_wheel", "rear_left_wheel", "rear_right_wheel"] diff --git a/omnigibson/robots/locobot.py b/omnigibson/robots/locobot.py index ff753c6fa..3614c5694 100644 --- a/omnigibson/robots/locobot.py +++ b/omnigibson/robots/locobot.py @@ -1,4 +1,5 @@ import os +from functools import cached_property import torch as th @@ -20,7 +21,7 @@ def wheel_radius(self): def wheel_axle_length(self): return 0.230 - @property + @cached_property def base_joint_names(self): return ["wheel_right_joint", "wheel_left_joint"] diff --git a/omnigibson/robots/locomotion_robot.py b/omnigibson/robots/locomotion_robot.py index 6e8274509..7eafea0e6 100644 --- a/omnigibson/robots/locomotion_robot.py +++ b/omnigibson/robots/locomotion_robot.py @@ -185,19 +185,19 @@ def turn_right(self, delta=0.03): quat = quat_multiply((euler2quat(delta, 0, 0)), quat) self.set_position_orientation(orientation=quat) - @property + @cached_property def non_floor_touching_base_links(self): return [self.links[name] for name in self.non_floor_touching_base_link_names] - @property + @cached_property def non_floor_touching_base_link_names(self): return [self.base_footprint_link_name] - @property + @cached_property def floor_touching_base_links(self): return [self.links[name] for name in self.floor_touching_base_link_names] - @property + @cached_property def floor_touching_base_link_names(self): raise NotImplementedError diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py index d101e7feb..87e6ce1cb 100644 --- a/omnigibson/robots/manipulation_robot.py +++ b/omnigibson/robots/manipulation_robot.py @@ -531,7 +531,7 @@ def gripper_action_idx(self): ) return gripper_action_idx - @property + @cached_property @abstractmethod def arm_link_names(self): """ @@ -544,7 +544,7 @@ def arm_link_names(self): """ raise NotImplementedError - @property + @cached_property @abstractmethod def arm_joint_names(self): """ @@ -557,7 +557,7 @@ def arm_joint_names(self): """ raise NotImplementedError - @property + @cached_property @abstractmethod def eef_link_names(self): """ @@ -567,7 +567,7 @@ def eef_link_names(self): """ raise NotImplementedError - @property + @cached_property @abstractmethod def finger_link_names(self): """ @@ -580,7 +580,7 @@ def finger_link_names(self): """ raise NotImplementedError - @property + @cached_property @abstractmethod def finger_joint_names(self): """ @@ -617,7 +617,7 @@ def gripper_control_idx(self): for arm in self.arm_names } - @property + @cached_property def arm_links(self): """ Returns: @@ -626,7 +626,7 @@ def arm_links(self): """ return {arm: [self._links[link] for link in self.arm_link_names[arm]] for arm in self.arm_names} - @property + @cached_property def eef_links(self): """ Returns: @@ -635,7 +635,7 @@ def eef_links(self): """ return {arm: self._links[self.eef_link_names[arm]] for arm in self.arm_names} - @property + @cached_property def finger_links(self): """ Returns: @@ -644,7 +644,7 @@ def finger_links(self): """ return {arm: [self._links[link] for link in self.finger_link_names[arm]] for arm in self.arm_names} - @property + @cached_property def finger_joints(self): """ Returns: diff --git a/omnigibson/robots/r1.py b/omnigibson/robots/r1.py index 21e014a38..ebf96ea63 100644 --- a/omnigibson/robots/r1.py +++ b/omnigibson/robots/r1.py @@ -1,4 +1,5 @@ import os +from functools import cached_property import torch as th @@ -193,15 +194,15 @@ def assisted_grasp_end_points(self): for arm in self.arm_names } - @property + @cached_property def floor_touching_base_link_names(self): return ["wheel_link1", "wheel_link2", "wheel_link3"] - @property + @cached_property def trunk_link_names(self): return ["torso_link1", "torso_link2", "torso_link3", "torso_link4"] - @property + @cached_property def trunk_joint_names(self): return [f"torso_joint{i}" for i in range(1, 5)] @@ -213,23 +214,23 @@ def n_arms(cls): def arm_names(cls): return ["left", "right"] - @property + @cached_property def arm_link_names(self): return {arm: [f"{arm}_arm_link{i}" for i in range(1, 7)] for arm in self.arm_names} - @property + @cached_property def arm_joint_names(self): return {arm: [f"{arm}_arm_joint{i}" for i in range(1, 7)] for arm in self.arm_names} - @property + @cached_property def eef_link_names(self): return {arm: f"{arm}_eef_link" for arm in self.arm_names} - @property + @cached_property def finger_link_names(self): return {arm: [f"{arm}_gripper_link{i}" for i in range(1, 3)] for arm in self.arm_names} - @property + @cached_property def finger_joint_names(self): return {arm: [f"{arm}_gripper_axis{i}" for i in range(1, 3)] for arm in self.arm_names} diff --git a/omnigibson/robots/stretch.py b/omnigibson/robots/stretch.py index b2c5c38fc..293db78dc 100644 --- a/omnigibson/robots/stretch.py +++ b/omnigibson/robots/stretch.py @@ -1,5 +1,6 @@ import math import os +from functools import cached_property import torch as th @@ -150,15 +151,15 @@ def disabled_collision_pairs(self): ["respeaker_base", "link_mast"], ] - @property + @cached_property def base_joint_names(self): return ["joint_left_wheel", "joint_right_wheel"] - @property + @cached_property def camera_joint_names(self): return ["joint_head_pan", "joint_head_tilt"] - @property + @cached_property def arm_link_names(self): return { self.default_arm: [ @@ -178,7 +179,7 @@ def arm_link_names(self): ] } - @property + @cached_property def arm_joint_names(self): return { self.default_arm: [ @@ -193,11 +194,11 @@ def arm_joint_names(self): ] } - @property + @cached_property def eef_link_names(self): return {self.default_arm: "link_grasp_center"} - @property + @cached_property def finger_link_names(self): return { self.default_arm: [ @@ -208,7 +209,7 @@ def finger_link_names(self): ] } - @property + @cached_property def finger_joint_names(self): return {self.default_arm: ["joint_gripper_finger_right", "joint_gripper_finger_left"]} diff --git a/omnigibson/robots/tiago.py b/omnigibson/robots/tiago.py index 7ec03042c..1cde7c87b 100644 --- a/omnigibson/robots/tiago.py +++ b/omnigibson/robots/tiago.py @@ -1,6 +1,7 @@ import math import os from typing import Literal +from functools import cached_property import torch as th @@ -139,7 +140,7 @@ def __init__( **kwargs, ) - @property + @cached_property def arm_joint_names(self): names = dict() for arm in self.arm_names: @@ -208,7 +209,7 @@ def _post_load(self): def base_footprint_link_name(self): return "base_footprint" - @property + @cached_property def floor_touching_base_link_names(self): return [ "wheel_front_left_link", @@ -363,15 +364,15 @@ def disabled_collision_pairs(self): ["arm_right_tool_link", "wrist_right_ft_tool_link"], ] - @property + @cached_property def camera_joint_names(self): return ["head_1_joint", "head_2_joint"] - @property + @cached_property def trunk_joint_names(self): return ["torso_lift_joint"] - @property + @cached_property def manipulation_link_names(self): return [ "torso_fixed_link", @@ -411,19 +412,19 @@ def manipulation_link_names(self): "xtion_link", ] - @property + @cached_property def arm_link_names(self): return {arm: [f"arm_{arm}_{i}_link" for i in range(1, 8)] for arm in self.arm_names} - @property + @cached_property def eef_link_names(self): return {arm: f"{arm}_eef_link" for arm in self.arm_names} - @property + @cached_property def finger_link_names(self): return {arm: [f"gripper_{arm}_right_finger_link", f"gripper_{arm}_left_finger_link"] for arm in self.arm_names} - @property + @cached_property def finger_joint_names(self): return { arm: [f"gripper_{arm}_right_finger_joint", f"gripper_{arm}_left_finger_joint"] for arm in self.arm_names @@ -447,7 +448,7 @@ def curobo_path(self): for emb_sel in CuroboEmbodimentSelection } - @property + @cached_property def curobo_attached_object_link_names(self): return {eef_link_name: f"attached_object_{eef_link_name}" for eef_link_name in self.eef_link_names.values()} diff --git a/omnigibson/robots/turtlebot.py b/omnigibson/robots/turtlebot.py index f545103c4..a365ab9b4 100644 --- a/omnigibson/robots/turtlebot.py +++ b/omnigibson/robots/turtlebot.py @@ -1,4 +1,5 @@ import os +from functools import cached_property import torch as th @@ -21,7 +22,7 @@ def wheel_radius(self): def wheel_axle_length(self): return 0.23 - @property + @cached_property def base_joint_names(self): return ["wheel_left_joint", "wheel_right_joint"] diff --git a/omnigibson/robots/vx300s.py b/omnigibson/robots/vx300s.py index facb36e27..9839f0ac4 100644 --- a/omnigibson/robots/vx300s.py +++ b/omnigibson/robots/vx300s.py @@ -1,5 +1,6 @@ import math import os +from functools import cached_property import torch as th @@ -141,7 +142,7 @@ def disabled_collision_pairs(self): ["gripper_bar_link", "gripper_link"], ] - @property + @cached_property def arm_link_names(self): return { self.default_arm: [ @@ -156,7 +157,7 @@ def arm_link_names(self): ] } - @property + @cached_property def arm_joint_names(self): return { self.default_arm: [ @@ -169,15 +170,15 @@ def arm_joint_names(self): ] } - @property + @cached_property def eef_link_names(self): return {self.default_arm: "ee_gripper_link"} - @property + @cached_property def finger_link_names(self): return {self.default_arm: ["left_finger_link", "right_finger_link"]} - @property + @cached_property def finger_joint_names(self): return {self.default_arm: ["left_finger", "right_finger"]} @@ -197,7 +198,7 @@ def urdf_path(self): def curobo_path(self): return os.path.join(gm.ASSET_PATH, "models/vx300s/vx300s_description_curobo.yaml") - @property + @cached_property def curobo_attached_object_link_names(self): return {"ee_gripper_link": "attached_object"} From d092a6fb4444aa09f2ad6783d13064aa76fdaebd Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 4 Dec 2024 16:46:32 -0800 Subject: [PATCH 29/55] optimize np numba transform functions --- omnigibson/utils/transform_utils_np.py | 156 ++++++++++++++++++++++--- omnigibson/utils/usd_utils.py | 87 +++++++++++--- 2 files changed, 209 insertions(+), 34 deletions(-) diff --git a/omnigibson/utils/transform_utils_np.py b/omnigibson/utils/transform_utils_np.py index 8c5942985..237d98377 100644 --- a/omnigibson/utils/transform_utils_np.py +++ b/omnigibson/utils/transform_utils_np.py @@ -7,7 +7,7 @@ import math import numpy as np -from numba import jit +from numba import jit, prange from scipy.spatial.transform import Rotation as R PI = np.pi @@ -394,6 +394,78 @@ def mat2quat(rmat): return R.from_matrix(rmat).as_quat() +@jit(nopython=True, fastmath=True) +def _norm_2d_final_dim(mat): + n_elements = mat.shape[0] + out = np.zeros(n_elements, dtype=np.float32) + for i in prange(n_elements): + vec = mat[i] + out[i] = np.sqrt(np.sum(vec * vec)) + return out + + +@jit(nopython=True) +def mat2quat_batch(rmat): + """ + Converts given rotation matrix to quaternion. + Args: + rmat (torch.Tensor): (3, 3) or (..., 3, 3) rotation matrix + Returns: + torch.Tensor: (4,) or (..., 4) (x,y,z,w) float quaternion angles + """ + batch_shape = rmat.shape[:-2] + mat_flat = rmat.reshape(-1, 3, 3) + + m00, m01, m02 = mat_flat[:, 0, 0], mat_flat[:, 0, 1], mat_flat[:, 0, 2] + m10, m11, m12 = mat_flat[:, 1, 0], mat_flat[:, 1, 1], mat_flat[:, 1, 2] + m20, m21, m22 = mat_flat[:, 2, 0], mat_flat[:, 2, 1], mat_flat[:, 2, 2] + + trace = m00 + m11 + m22 + + trace_positive = trace > 0 + cond1 = (m00 > m11) & (m00 > m22) & ~trace_positive + cond2 = (m11 > m22) & ~(trace_positive | cond1) + cond3 = ~(trace_positive | cond1 | cond2) + + # Trace positive condition + sq = np.where(trace_positive, np.sqrt(trace + 1.0) * 2.0, np.zeros_like(trace)) + qw = np.where(trace_positive, 0.25 * sq, np.zeros_like(trace)) + qx = np.where(trace_positive, (m21 - m12) / sq, np.zeros_like(trace)) + qy = np.where(trace_positive, (m02 - m20) / sq, np.zeros_like(trace)) + qz = np.where(trace_positive, (m10 - m01) / sq, np.zeros_like(trace)) + + # Condition 1 + sq = np.where(cond1, np.sqrt(1.0 + m00 - m11 - m22) * 2.0, sq) + qw = np.where(cond1, (m21 - m12) / sq, qw) + qx = np.where(cond1, 0.25 * sq, qx) + qy = np.where(cond1, (m01 + m10) / sq, qy) + qz = np.where(cond1, (m02 + m20) / sq, qz) + + # Condition 2 + sq = np.where(cond2, np.sqrt(1.0 + m11 - m00 - m22) * 2.0, sq) + qw = np.where(cond2, (m02 - m20) / sq, qw) + qx = np.where(cond2, (m01 + m10) / sq, qx) + qy = np.where(cond2, 0.25 * sq, qy) + qz = np.where(cond2, (m12 + m21) / sq, qz) + + # Condition 3 + sq = np.where(cond3, np.sqrt(1.0 + m22 - m00 - m11) * 2.0, sq) + qw = np.where(cond3, (m10 - m01) / sq, qw) + qx = np.where(cond3, (m02 + m20) / sq, qx) + qy = np.where(cond3, (m12 + m21) / sq, qy) + qz = np.where(cond3, 0.25 * sq, qz) + + quat = np.stack((qx, qy, qz, qw), axis=-1) + + # Normalize the quaternion + quat = quat / _norm_2d_final_dim(quat)[..., np.newaxis] + + # Reshape to match input batch shape + quat = quat.reshape(batch_shape + (4,)) + + return quat + + def vec2quat(vec, up=(0, 0, 1.0)): """ Converts given 3d-direction vector @vec to quaternion orientation with respect to another direction vector @up @@ -446,35 +518,78 @@ def mat2euler(rmat): return R.from_matrix(M).as_euler("xyz") -def pose2mat(pose): +def quat2mat(quaternion): + if quaternion.dtype != np.float32: + quaternion = quaternion.astype(np.float32) + return _quat2mat(quaternion) + + +@jit(nopython=True) +def _quat2mat(quaternion): """ - Converts pose to homogeneous matrix. + Convert quaternions into rotation matrices. Args: - pose (2-tuple): a (pos, orn) tuple where pos is vec3 float cartesian, and - orn is vec4 float quaternion. + quaternion (torch.Tensor): A tensor of shape (..., 4) representing batches of quaternions (w, x, y, z). Returns: - np.array: 4x4 homogeneous matrix + torch.Tensor: A tensor of shape (..., 3, 3) representing batches of rotation matrices. """ - homo_pose_mat = np.zeros((4, 4), dtype=np.float32) - homo_pose_mat[:3, :3] = quat2mat(pose[1]) - homo_pose_mat[:3, 3] = np.array(pose[0], dtype=np.float32) - homo_pose_mat[3, 3] = 1.0 - return homo_pose_mat + # broadcast array is necessary to use numba parallel mode + q1, q2 = np.broadcast_arrays(quaternion[..., np.newaxis], quaternion[..., np.newaxis, :]) + outer = q1 * q2 + # Extract the necessary components + xx = outer[..., 0, 0] + yy = outer[..., 1, 1] + zz = outer[..., 2, 2] + xy = outer[..., 0, 1] + xz = outer[..., 0, 2] + yz = outer[..., 1, 2] + xw = outer[..., 0, 3] + yw = outer[..., 1, 3] + zw = outer[..., 2, 3] -def quat2mat(quaternion): + rotation_matrix = np.empty(quaternion.shape[:-1] + (3, 3), dtype=np.float32) + + rotation_matrix[..., 0, 0] = 1 - 2 * (yy + zz) + rotation_matrix[..., 0, 1] = 2 * (xy - zw) + rotation_matrix[..., 0, 2] = 2 * (xz + yw) + + rotation_matrix[..., 1, 0] = 2 * (xy + zw) + rotation_matrix[..., 1, 1] = 1 - 2 * (xx + zz) + rotation_matrix[..., 1, 2] = 2 * (yz - xw) + + rotation_matrix[..., 2, 0] = 2 * (xz - yw) + rotation_matrix[..., 2, 1] = 2 * (yz + xw) + rotation_matrix[..., 2, 2] = 1 - 2 * (xx + yy) + + return rotation_matrix + + +# def pose2mat(pose): +# if pose.dtype != np.float32: +# pose = pose.astype(np.float32) +# return _pose2mat(pose) + + +@jit(nopython=True) +def pose2mat(pose): """ - Converts given quaternion to matrix. + Converts pose to homogeneous matrix. Args: - quaternion (np.array): (..., 4) (x,y,z,w) float quaternion angles + pose (2-tuple): a (pos, orn) tuple where pos is vec3 float cartesian, and + orn is vec4 float quaternion. Returns: - np.array: (..., 3, 3) rotation matrix + np.array: 4x4 homogeneous matrix """ - return R.from_quat(quaternion).as_matrix() + homo_pose_mat = np.zeros((4, 4), dtype=np.float32) + homo_pose_mat[:3, :3] = _quat2mat(pose[1]) + homo_pose_mat[:3, 3] = pose[0] + homo_pose_mat[3, 3] = 1.0 + return homo_pose_mat def quat2axisangle(quat): @@ -558,6 +673,13 @@ def pose_in_A_to_pose_in_B(pose_A, pose_A_in_B): def pose_inv(pose_mat): + if pose_mat.dtype != np.float32: + pose_mat = pose_mat.astype(np.float32) + return _pose_inv(pose_mat) + + +@jit(nopython=True) +def _pose_inv(pose_mat): """ Computes the inverse of a homogeneous matrix corresponding to the pose of some frame B in frame A. The inverse is the pose of frame A in frame B. @@ -579,7 +701,7 @@ def pose_inv(pose_mat): # -t in the original frame, which is -R-1*t in the new frame, and then rotate back by # R-1 to align the axis again. - pose_inv = np.zeros((4, 4)) + pose_inv = np.zeros((4, 4), dtype=np.float32) pose_inv[:3, :3] = pose_mat[:3, :3].T pose_inv[:3, 3] = -pose_inv[:3, :3].dot(pose_mat[:3, 3]) pose_inv[3, 3] = 1.0 diff --git a/omnigibson/utils/usd_utils.py b/omnigibson/utils/usd_utils.py index 64c0b6e1e..037f669b1 100644 --- a/omnigibson/utils/usd_utils.py +++ b/omnigibson/utils/usd_utils.py @@ -6,11 +6,13 @@ from collections.abc import Iterable import numpy as np +from numba import jit, prange import torch as th import trimesh import omnigibson as og import omnigibson.lazy as lazy +from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerTorchBackend, _ControllerNumpyBackend from omnigibson.controllers.controller_base import _controller_backend as cb import omnigibson.utils.transform_utils as T from omnigibson.macros import gm @@ -1114,23 +1116,12 @@ def _get_relative_poses(self, prim_path): self._read_cache["link_transforms"] = cb.from_torch(self._view.get_link_transforms()) idx = self._idx[prim_path] - tfs = cb.zeros((len(self._link_idx[idx]), 4, 4)) - # base vel is the final -1 index - link_tfs = self._read_cache["link_transforms"][idx, :] - tfs[:, 3, 3] = 1.0 - tfs[:, :3, 3] = link_tfs[:, :3] - tfs[:, :3, :3] = cb.T.quat2mat(link_tfs[:, 3:]) - base_tf_inv = cb.zeros((1, 4, 4)) - base_tf_inv[0, :, :] = cb.T.pose_inv(cb.T.pose2mat(self.get_position_orientation(prim_path=prim_path))) - - # (1, 4, 4) @ (n_links, 4, 4) -> (n_links, 4, 4) - rel_tfs = base_tf_inv @ tfs - - # Re-convert to quat form - rel_poses = cb.zeros((len(self._link_idx[idx]), 7)) - rel_poses[:, :3] = rel_tfs[:, :3, 3] - rel_poses[:, 3:] = cb.T.mat2quat(rel_tfs[:, :3, :3]) - self._read_cache["relative_poses"][prim_path] = rel_poses + self._read_cache["relative_poses"][prim_path] = cb.compute_relative_poses( + idx, + len(self._link_idx[idx]), + self._read_cache["link_transforms"], + self.get_position_orientation(prim_path=prim_path), + ) return self._read_cache["relative_poses"][prim_path] @@ -1881,3 +1872,65 @@ def delete_or_deactivate_prim(prim_path): lazy.omni.usd.commands.DeletePrimsCommand([prim_path], destructive=False).do() return True + + +import omnigibson.utils.transform_utils as TT +@th.compile +def _compute_relative_poses_torch( + idx: int, + n_links: int, + all_tfs: th.Tensor, + base_pose: th.Tensor, +): + tfs = th.zeros((n_links, 4, 4), dtype=th.float32) + # base vel is the final -1 index + link_tfs = all_tfs[idx, :] + tfs[:, 3, 3] = 1.0 + tfs[:, :3, 3] = link_tfs[:, :3] + tfs[:, :3, :3] = TT.quat2mat(link_tfs[:, 3:]) + base_tf_inv = th.zeros((1, 4, 4), dtype=th.float32) + base_tf_inv[0, :, :] = TT.pose_inv(TT.pose2mat(base_pose)) + + # (1, 4, 4) @ (n_links, 4, 4) -> (n_links, 4, 4) + rel_tfs = base_tf_inv @ tfs + + # Re-convert to quat form + rel_poses = th.zeros((n_links, 7), dtype=th.float32) + rel_poses[:, :3] = rel_tfs[:, :3, 3] + rel_poses[:, 3:] = TT.mat2quat(rel_tfs[:, :3, :3]) + + return rel_poses + + +import omnigibson.utils.transform_utils_np as NT +@jit(nopython=True) +def _compute_relative_poses_numpy(idx, n_links, all_tfs, base_pose): + tfs = np.zeros((n_links, 4, 4), dtype=np.float32) + # base vel is the final -1 index + link_tfs = all_tfs[idx, :] + tfs[:, 3, 3] = 1.0 + tfs[:, :3, 3] = link_tfs[:, :3] + tfs[:, :3, :3] = NT._quat2mat(link_tfs[:, 3:]) + # base_tf_inv = np.zeros((1, 4, 4), dtype=np.float32) + # base_tf_inv[0, :, :] = NT._pose_inv(NT.pose2mat(base_pose)) + base_tf_inv = NT._pose_inv(NT.pose2mat(base_pose)) + + # (1, 4, 4) @ (n_links, 4, 4) -> (n_links, 4, 4) + rel_tfs = np.zeros((n_links, 4, 4), dtype=np.float32) + for i in prange(n_links): + rel_tfs[i, :, :] = base_tf_inv @ tfs[i, :, :] + # rel_tfs = base_tf_inv @ tfs + + # Re-convert to quat form + rel_poses = np.zeros((n_links, 7), dtype=np.float32) + rel_poses[:, :3] = rel_tfs[:, :3, 3] + rel_poses[:, 3:] = NT.mat2quat_batch(rel_tfs[:, :3, :3].copy()) + + return rel_poses + + +# Set these as part of the backend values +setattr(_ControllerBackend, "compute_relative_poses", None) +setattr(_ControllerTorchBackend, "compute_relative_poses", _compute_relative_poses_torch) +setattr(_ControllerNumpyBackend, "compute_relative_poses", _compute_relative_poses_numpy) + From 20d4da2d7b609a627a2ad4b8164c1ddaf9e57591 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Mon, 9 Dec 2024 15:37:23 -0800 Subject: [PATCH 30/55] Numpy optimization and data collection wrapper bug fixes --- omnigibson/controllers/controller_base.py | 60 +++++++++++++------ omnigibson/controllers/ik_controller.py | 27 ++++++--- omnigibson/controllers/joint_controller.py | 12 ++-- .../multi_finger_gripper_controller.py | 10 +++- omnigibson/controllers/osc_controller.py | 16 ++++- omnigibson/objects/controllable_object.py | 6 +- omnigibson/objects/dataset_object.py | 2 +- omnigibson/simulator.py | 6 +- omnigibson/utils/config_utils.py | 3 +- 9 files changed, 100 insertions(+), 42 deletions(-) diff --git a/omnigibson/controllers/controller_base.py b/omnigibson/controllers/controller_base.py index b9f3c38a0..164c05660 100644 --- a/omnigibson/controllers/controller_base.py +++ b/omnigibson/controllers/controller_base.py @@ -2,13 +2,19 @@ from collections.abc import Iterable from enum import IntEnum -import torch as th import numpy as np +import torch as th -from omnigibson.utils.python_utils import Recreatable, Registerable, Serializable, assert_valid_key, classproperty, \ - recursively_convert_from_torch import omnigibson.utils.transform_utils as TT import omnigibson.utils.transform_utils_np as NT +from omnigibson.utils.python_utils import ( + Recreatable, + Registerable, + Serializable, + assert_valid_key, + classproperty, + recursively_convert_from_torch, +) # Global dicts that will contain mappings REGISTERED_CONTROLLERS = dict() @@ -231,7 +237,9 @@ def __init__( # Generate goal information self._goal_shapes = self._get_goal_shapes() - self._goal_dim = int(sum(_controller_backend.prod(_controller_backend.array(shape)) for shape in self._goal_shapes.values())) + self._goal_dim = int( + sum(_controller_backend.prod(_controller_backend.array(shape)) for shape in self._goal_shapes.values()) + ) # Initialize some other variables that will be filled in during runtime self._control = None @@ -242,15 +250,12 @@ def __init__( # Standardize command input / output limits to be (min_array, max_array) command_input_limits = ( - (-1.0, 1.0) + self._generate_default_command_input_limits() if type(command_input_limits) == str and command_input_limits == "default" else command_input_limits ) command_output_limits = ( - ( - self._control_limits[self.control_type][0][self.dof_idx], - self._control_limits[self.control_type][1][self.dof_idx], - ) + self._generate_default_command_output_limits() if type(command_output_limits) == str and command_output_limits == "default" else command_output_limits ) @@ -271,6 +276,21 @@ def __init__( ) ) + def _generate_default_command_input_limits(self): + """ + Generates default command input limits based on the control limits + """ + return (-1.0, 1.0) + + def _generate_default_command_output_limits(self): + """ + Generates default command output limits based on the control limits + """ + return ( + self._control_limits[self.control_type][0][self.dof_idx], + self._control_limits[self.control_type][1][self.dof_idx], + ) + def _preprocess_command(self, command): """ Clips + scales inputted @command according to self.command_input_limits and self.command_output_limits. @@ -469,23 +489,31 @@ def _dump_state(self): # Default is just the command return dict( goal_is_valid=self._goal is not None, - goal=self._goal, + goal=None if self._goal is None else {k: _controller_backend.to_torch(v) for k, v in self._goal.items()}, ) def _load_state(self, state): # Make sure every entry in goal is a numpy array # Load goal - self._goal = None if state["goal"] is None else {name: goal_state for name, goal_state in state["goal"].items()} + if state["goal"] is None: + self._goal = None + else: + self._goal = dict() + for name, goal_state in state["goal"].items(): + if isinstance(goal_state, th.Tensor): + self._goal[name] = _controller_backend.from_torch(goal_state) + else: + self._goal[name] = goal_state def serialize(self, state): # Make sure size of the state is consistent, even if we have no goal goal_state_flattened = ( - _controller_backend.cat([goal_state.flatten() for goal_state in self._goal.values()]) + th.cat([goal_state.flatten() for goal_state in state["goal"].values()]) if (state)["goal_is_valid"] - else _controller_backend.zeros(self.goal_dim) + else th.zeros(self.goal_dim) ) - return _controller_backend.cat([_controller_backend.array([state["goal_is_valid"]]), goal_state_flattened]) + return th.cat([th.tensor([state["goal_is_valid"]]), goal_state_flattened]) def deserialize(self, state): goal_is_valid = bool(state[0]) @@ -536,9 +564,7 @@ def nums2array(nums, dim): nums if isinstance(nums, _controller_backend.arr_type) else ( - _controller_backend.array(nums) - if isinstance(nums, Iterable) - else _controller_backend.ones(dim) * nums + _controller_backend.array(nums) if isinstance(nums, Iterable) else _controller_backend.ones(dim) * nums ) ) diff --git a/omnigibson/controllers/ik_controller.py b/omnigibson/controllers/ik_controller.py index 88bd506a5..22c032391 100644 --- a/omnigibson/controllers/ik_controller.py +++ b/omnigibson/controllers/ik_controller.py @@ -1,9 +1,11 @@ import math from collections.abc import Iterable -from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerTorchBackend, _ControllerNumpyBackend -from omnigibson.controllers.controller_base import _controller_backend as cb + +import torch as th from omnigibson.controllers import ControlType, ManipulationController +from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerNumpyBackend, _ControllerTorchBackend from omnigibson.controllers.joint_controller import JointController from omnigibson.macros import create_module_macros, gm from omnigibson.utils.processing_utils import MovingAverageFilter @@ -43,8 +45,8 @@ def __init__( dof_idx, command_input_limits="default", command_output_limits=( - (-0.2, -0.2, -0.2, -0.5, -0.5, -0.5), - (0.2, 0.2, 0.2, 0.5, 0.5, 0.5), + (-0.2, -0.2, -0.2, -0.5, -0.5, -0.5), + (0.2, 0.2, 0.2, 0.5, 0.5, 0.5), ), pos_kp=None, pos_damping_ratio=None, @@ -117,7 +119,7 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D """ # Store arguments control_dim = len(dof_idx) - self.control_filter = None #( + self.control_filter = None # ( # None # if smoothing_filter_size in {None, 0} # else MovingAverageFilter(obs_dim=control_dim, filter_width=smoothing_filter_size) @@ -219,10 +221,14 @@ def serialize(self, state): state_flat = super().serialize(state=state) # Serialize state for this controller - return cb.cat( + return th.cat( [ state_flat, - cb.array([]) if self.control_filter is None else self.control_filter.serialize(state=state["control_filter"]), + ( + th.tensor([]) + if self.control_filter is None + else cb.to_torch(self.control_filter.serialize(state=state["control_filter"])) + ), ] ) @@ -370,7 +376,10 @@ def command_dim(self): import torch as th + import omnigibson.utils.transform_utils as TT + + @th.jit.script def _compute_ik_qpos_torch( q: th.Tensor, @@ -402,7 +411,10 @@ def _compute_ik_qpos_torch( import numpy as np from numba import jit + import omnigibson.utils.transform_utils_np as NT + + # Use numba since faster @jit(nopython=True) def _compute_ik_qpos_numpy( @@ -434,4 +446,3 @@ def _compute_ik_qpos_numpy( setattr(_ControllerBackend, "compute_ik_qpos", None) setattr(_ControllerTorchBackend, "compute_ik_qpos", _compute_ik_qpos_torch) setattr(_ControllerNumpyBackend, "compute_ik_qpos", _compute_ik_qpos_numpy) - diff --git a/omnigibson/controllers/joint_controller.py b/omnigibson/controllers/joint_controller.py index 662422741..1fcff79b5 100644 --- a/omnigibson/controllers/joint_controller.py +++ b/omnigibson/controllers/joint_controller.py @@ -1,7 +1,5 @@ import math -from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerTorchBackend, _ControllerNumpyBackend -from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.controllers import ( ControlType, GripperController, @@ -9,6 +7,8 @@ LocomotionController, ManipulationController, ) +from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerNumpyBackend, _ControllerTorchBackend from omnigibson.macros import create_module_macros from omnigibson.utils.python_utils import assert_valid_key from omnigibson.utils.ui_utils import create_module_logger @@ -286,6 +286,8 @@ def command_dim(self): import torch as th + + @th.compile def _compute_joint_torques_torch( u: th.Tensor, @@ -296,9 +298,10 @@ def _compute_joint_torques_torch( return mm[dof_idxs_mat] @ u - import numpy as np from numba import jit + + # Use numba since faster @jit(nopython=True) def numba_ix(arr, rows, cols): @@ -316,7 +319,7 @@ def numba_ix(arr, rows, cols): one_d_index = np.zeros(len(rows) * len(cols), dtype=np.int32) for i, r in enumerate(rows): start = i * len(cols) - one_d_index[start: start + len(cols)] = cols + arr.shape[1] * r + one_d_index[start : start + len(cols)] = cols + arr.shape[1] * r arr_1d = arr.reshape((arr.shape[0] * arr.shape[1], 1)) slice_1d = np.take(arr_1d, one_d_index) @@ -336,4 +339,3 @@ def _compute_joint_torques_numpy( setattr(_ControllerBackend, "compute_joint_torques", None) setattr(_ControllerTorchBackend, "compute_joint_torques", _compute_joint_torques_torch) setattr(_ControllerNumpyBackend, "compute_joint_torques", _compute_joint_torques_numpy) - diff --git a/omnigibson/controllers/multi_finger_gripper_controller.py b/omnigibson/controllers/multi_finger_gripper_controller.py index 4c8ff6bf4..9d8e8ed33 100644 --- a/omnigibson/controllers/multi_finger_gripper_controller.py +++ b/omnigibson/controllers/multi_finger_gripper_controller.py @@ -1,5 +1,5 @@ -from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.controllers import ControlType, GripperController, IsGraspingState +from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.macros import create_module_macros from omnigibson.utils.python_utils import assert_valid_key @@ -112,6 +112,11 @@ def __init__( command_output_limits=command_output_limits, ) + def _generate_default_command_output_limits(self): + command_output_limits = super()._generate_default_command_output_limits() + + return (cb.mean(command_output_limits[0]), cb.mean(command_output_limits[1])) + def reset(self): # Call super first super().reset() @@ -250,8 +255,7 @@ def _update_grasping_state(self, control_dict): # If the joint positions are not near the joint limits with some tolerance (m.POS_TOLERANCE) valid_grasp_pos = ( - dist_from_lower_limit.mean() > m.POS_TOLERANCE - and dist_from_upper_limit.mean() > m.POS_TOLERANCE + dist_from_lower_limit.mean() > m.POS_TOLERANCE and dist_from_upper_limit.mean() > m.POS_TOLERANCE ) # And the joint velocities are close to zero with some tolerance (m.VEL_TOLERANCE) diff --git a/omnigibson/controllers/osc_controller.py b/omnigibson/controllers/osc_controller.py index dc74f1178..fe3442385 100644 --- a/omnigibson/controllers/osc_controller.py +++ b/omnigibson/controllers/osc_controller.py @@ -1,8 +1,8 @@ import math -from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerTorchBackend, _ControllerNumpyBackend -from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.controllers import ControlType, ManipulationController +from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerNumpyBackend, _ControllerTorchBackend from omnigibson.utils.processing_utils import MovingAverageFilter from omnigibson.utils.python_utils import assert_valid_key from omnigibson.utils.ui_utils import create_module_logger @@ -412,7 +412,11 @@ def compute_control(self, goal_dict, control_dict): ee_pos=cb.as_float32(ee_pos), ee_mat=cb.as_float32(cb.T.quat2mat(ee_quat)), ee_lin_vel=cb.as_float32(ee_vel[:3]), - ee_ang_vel_err=cb.as_float32(cb.T.quat2axisangle(cb.T.quat_multiply(cb.T.axisangle2quat(-ee_vel[3:]), cb.T.axisangle2quat(base_ang_vel)))), + ee_ang_vel_err=cb.as_float32( + cb.T.quat2axisangle( + cb.T.quat_multiply(cb.T.axisangle2quat(-ee_vel[3:]), cb.T.axisangle2quat(base_ang_vel)) + ) + ), goal_pos=goal_dict["target_pos"], goal_ori_mat=goal_dict["target_ori_mat"], kp=kp, @@ -486,7 +490,10 @@ def command_dim(self): import torch as th + import omnigibson.utils.transform_utils as TT + + @th.jit.script def _compute_osc_torques_torch( q: th.Tensor, @@ -564,7 +571,10 @@ def _compute_osc_torques_torch( import numpy as np from numba import jit + import omnigibson.utils.transform_utils_np as NT + + # Use numba since faster @jit(nopython=True) def _compute_osc_torques_numpy( diff --git a/omnigibson/objects/controllable_object.py b/omnigibson/objects/controllable_object.py index bcad603a8..1069ec27a 100644 --- a/omnigibson/objects/controllable_object.py +++ b/omnigibson/objects/controllable_object.py @@ -704,9 +704,9 @@ def serialize(self, state): state_flat = super().serialize(state=state) # Serialize the controller states sequentially - controller_states_flat = cb.to_torch(cb.cat( - [c.serialize(state=state["controllers"][c_name]) for c_name, c in self._controllers.items()] - )) + controller_states_flat = cb.to_torch( + cb.cat([c.serialize(state=state["controllers"][c_name]) for c_name, c in self._controllers.items()]) + ) # Concatenate and return return th.cat([state_flat, controller_states_flat]) diff --git a/omnigibson/objects/dataset_object.py b/omnigibson/objects/dataset_object.py index a2058af2b..fc1e747e2 100644 --- a/omnigibson/objects/dataset_object.py +++ b/omnigibson/objects/dataset_object.py @@ -244,7 +244,7 @@ def _post_load(self): scale = th.ones(3) if self._load_config["scale"] is None else self._load_config["scale"] # Assert that the scale does not have too small dimensions - assert th.all(scale > 1e-4), f"Scale of {self.name} is too small: {scale}" + assert th.all(th.tensor(scale) > 1e-4), f"Scale of {self.name} is too small: {scale}" # Set this scale in the load config -- it will automatically scale the object during self.initialize() self._load_config["scale"] = scale diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py index 108bc506a..62679523b 100644 --- a/omnigibson/simulator.py +++ b/omnigibson/simulator.py @@ -221,6 +221,7 @@ def _launch_app(): "Content", "Flow", "Semantics Schema Editor", + "VR", ] ) @@ -241,7 +242,10 @@ def _launch_app(): # Set controller backend import omnigibson.controllers.controller_base as CB - CB._controller_backend.set_methods(CB._ControllerNumpyBackend if gm.USE_NUMPY_CONTROLLER_BACKEND else CB._ControllerTorchBackend) + + CB._controller_backend.set_methods( + CB._ControllerNumpyBackend if gm.USE_NUMPY_CONTROLLER_BACKEND else CB._ControllerTorchBackend + ) return app diff --git a/omnigibson/utils/config_utils.py b/omnigibson/utils/config_utils.py index dd467c382..8012da699 100644 --- a/omnigibson/utils/config_utils.py +++ b/omnigibson/utils/config_utils.py @@ -2,6 +2,7 @@ import json import os +import numpy as np import torch as th import yaml @@ -74,6 +75,6 @@ def load_default_config(): class TorchEncoder(json.JSONEncoder): def default(self, obj): - if isinstance(obj, th.Tensor): + if isinstance(obj, (th.Tensor, np.ndarray)): return obj.tolist() return json.JSONEncoder.default(self, obj) From 4377a57969ed1c36ae416b36781bcac0d106ca59 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Mon, 9 Dec 2024 15:41:09 -0800 Subject: [PATCH 31/55] Allow VR free head orientation motion; optimize VR for data collection --- omnigibson/envs/data_wrapper.py | 31 +++++-- .../teleoperation/vr_robot_control_demo.py | 1 + omnigibson/utils/teleop_utils.py | 89 +++++++++++++------ 3 files changed, 86 insertions(+), 35 deletions(-) diff --git a/omnigibson/envs/data_wrapper.py b/omnigibson/envs/data_wrapper.py index a599e8547..7357050e4 100644 --- a/omnigibson/envs/data_wrapper.py +++ b/omnigibson/envs/data_wrapper.py @@ -60,6 +60,8 @@ def __init__(self, env, output_path, only_successes=True): self.add_metadata(group=data_grp, name="config", data=config) self.add_metadata(group=data_grp, name="scene_file", data=scene_file) + self.is_recording = False + # Run super super().__init__(env=env) @@ -86,12 +88,13 @@ def step(self, action): next_obs, reward, terminated, truncated, info = self.env.step(action) self.step_count += 1 - # Aggregate step data - step_data = self._parse_step_data(action, next_obs, reward, terminated, truncated, info) + if self.is_recording: + # Aggregate step data + step_data = self._parse_step_data(action, next_obs, reward, terminated, truncated, info) - # Update obs and traj history - self.current_traj_history.append(step_data) - self.current_obs = next_obs + # Update obs and traj history + self.current_traj_history.append(step_data) + self.current_obs = next_obs return next_obs, reward, terminated, truncated, info @@ -290,6 +293,18 @@ def __init__(self, env, output_path, viewport_camera_path="/World/viewer_camera" # Configure the simulator to optimize for data collection self._optimize_sim_for_data_collection(viewport_camera_path=viewport_camera_path) + def start_recording(self): + """ + Start recording data + """ + self.is_recording = True + + def stop_recording(self): + """ + Stop recording data + """ + self.is_recording = False + def _optimize_sim_for_data_collection(self, viewport_camera_path): """ Configures the simulator to optimize for data collection @@ -305,9 +320,9 @@ def _optimize_sim_for_data_collection(self, viewport_camera_path): # Set the main viewport camera path og.sim.viewer_camera.active_camera_path = viewport_camera_path - # Use asynchronous rendering for faster performance - lazy.carb.settings.get_settings().set_bool("/app/asyncRendering", True) - lazy.carb.settings.get_settings().set_bool("/app/asyncRenderingLowLatency", True) + # # Use asynchronous rendering for faster performance + # lazy.carb.settings.get_settings().set_bool("/app/asyncRendering", True) + # lazy.carb.settings.get_settings().set_bool("/app/asyncRenderingLowLatency", True) # Disable mouse grabbing since we're only using the UI passively lazy.carb.settings.get_settings().set_bool("/physics/mouseInteractionEnabled", False) diff --git a/omnigibson/examples/teleoperation/vr_robot_control_demo.py b/omnigibson/examples/teleoperation/vr_robot_control_demo.py index 181fec88d..d4a544d77 100644 --- a/omnigibson/examples/teleoperation/vr_robot_control_demo.py +++ b/omnigibson/examples/teleoperation/vr_robot_control_demo.py @@ -11,6 +11,7 @@ gm.ENABLE_OBJECT_STATES = False gm.ENABLE_TRANSITION_RULES = False gm.ENABLE_FLATCACHE = True +gm.GUI_VIEWPORT_ONLY = True # import torch._dynamo # torch._dynamo.config.suppress_errors = True diff --git a/omnigibson/utils/teleop_utils.py b/omnigibson/utils/teleop_utils.py index 342b2ce8f..16b96b5df 100644 --- a/omnigibson/utils/teleop_utils.py +++ b/omnigibson/utils/teleop_utils.py @@ -14,6 +14,7 @@ from omnigibson.robots.robot_base import BaseRobot from omnigibson.sensors import VisionSensor from omnigibson.utils.control_utils import IKSolver +from omnigibson.utils.ui_utils import KeyboardEventHandler, create_module_logger try: from telemoma.configs.base_config import teleop_config @@ -24,6 +25,9 @@ except ImportError as e: raise e from ValueError("For teleoperation, install telemoma by running 'pip install telemoma'") +# Create module logger +log = create_module_logger(module_name=__name__) + m = create_module_macros(module_path=__file__) m.movement_speed = 0.2 # the speed of the robot base movement @@ -234,6 +238,61 @@ def __init__( # reset_joint_pos=self.robot.get_joint_positions()[control_idx], # eef_name=self.robot.eef_link_names[arm], # ) + self.head_canonical_transformation = None + KeyboardEventHandler.add_keyboard_callback( + key=lazy.carb.input.KeyboardInput.ENTER, + callback_fn=self.register_head_canonical_transformation, + ) + KeyboardEventHandler.add_keyboard_callback( + key=lazy.carb.input.KeyboardInput.ESCAPE, + callback_fn=self.stop, + ) + self._update_camera_callback = self.xr_core.get_event_stream().create_subscription_to_pop_by_type( + lazy.omni.kit.xr.core.XRCoreEventType.pre_render_update, self._update_camera_pose, name="update camera" + ) + + def _update_camera_pose(self, e) -> None: + if self.align_anchor_to == "touchpad": + # we use x, y from right controller for 2d movement and y from left controller for z movement + self._move_anchor( + pos_offset=th.cat((th.tensor([self.teleop_action.torso]), self.teleop_action.base[[0, 2]])) + ) + else: + if self.anchor_prim is not None: + reference_frame = self.anchor_prim + elif self.align_anchor_to == "camera": + reference_frame = self.robot_cameras[self.active_camera_id] + elif self.align_anchor_to == "base": + reference_frame = self.robot + else: + raise ValueError(f"Invalid anchor: {self.align_anchor_to}") + + anchor_pos, anchor_orn = reference_frame.get_position_orientation() + + if self.head_canonical_transformation is not None: + current_head_physical_world_pose = self.xr2og(self.hmd.get_physical_world_pose()) + # Find the orientation change from canonical to current physical orientation + _, relative_orientation = T.relative_pose_transform( + *current_head_physical_world_pose, *self.head_canonical_transformation + ) + anchor_orn = T.quat_multiply(anchor_orn, relative_orientation) + + anchor_pose = self.og2xr(anchor_pos, anchor_orn) + self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device( + anchor_pose.numpy(), self.hmd + ) + + def register_head_canonical_transformation(self): + """ + Here's what we need to do: + 1) Let the user press a button to record head canonical orientation (GELLO and head facing forward) + 2) when the user turn their head, get orientation change from canonical to current physical orientation as R + 3) set the head in virtual world to robot head orientation + R, same position + """ + if self.hmd is None: + log.warning("No HMD found, cannot register head canonical orientation") + return + self.head_canonical_transformation = self.xr2og(self.hmd.get_physical_world_pose()) def set_anchor_with_prim(self, prim) -> None: """ @@ -305,6 +364,7 @@ def start(self) -> None: og.sim.step() self.reset_head_transform() print("[VRSys] VR system is ready") + self.register_head_canonical_transformation() break time.sleep(1) og.sim.step() @@ -323,10 +383,10 @@ def update(self) -> None: """ # update raw data self._update_devices() + self._update_device_transforms() + self._update_button_data() # Update teleop data based on controller input if self.eef_tracking_mode == "controller": - self._update_device_transforms() - self._update_button_data() # update eef related info for arm_name, arm in zip(["left", "right"], self.robot_arms): if arm in self.controllers: @@ -375,31 +435,6 @@ def update(self) -> None: ) self.teleop_action.is_valid["head"] = self._is_valid_transform(self.raw_data["transforms"]["head"]) - # align anchor - if self.align_anchor_to == "touchpad": - # we use x, y from right controller for 2d movement and y from left controller for z movement - self._move_anchor( - pos_offset=th.cat((th.tensor([self.teleop_action.torso]), self.teleop_action.base[[0, 2]])) - ) - else: - # Only align anchor when there's base movement - # if th.any(self.teleop_action.base != 0): - if self.anchor_prim is not None: - reference_frame = self.anchor_prim - elif self.align_anchor_to == "camera": - reference_frame = self.robot_cameras[self.active_camera_id] - elif self.align_anchor_to == "base": - reference_frame = self.robot - else: - raise ValueError(f"Invalid anchor: {self.align_anchor_to}") - - anchor_pos, anchor_orn = reference_frame.get_position_orientation() - - anchor_pose = self.og2xr(anchor_pos, anchor_orn) - self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device( - anchor_pose.numpy(), self.hmd - ) - def get_robot_teleop_action(self) -> th.Tensor: """ Get the robot teleop action From 69df439dc8ffa8b3a56881be97c9d8117302f4d8 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 11 Dec 2024 17:24:36 -0800 Subject: [PATCH 32/55] refactor controller backend and general compute backend --- omnigibson/controllers/controller_base.py | 180 +++++------------- omnigibson/controllers/dd_controller.py | 2 +- omnigibson/controllers/ik_controller.py | 26 ++- omnigibson/controllers/joint_controller.py | 10 +- .../multi_finger_gripper_controller.py | 2 +- .../controllers/null_joint_controller.py | 2 +- omnigibson/controllers/osc_controller.py | 10 +- omnigibson/objects/controllable_object.py | 2 +- omnigibson/robots/holonomic_base_robot.py | 2 +- omnigibson/utils/backend_utils.py | 116 +++++++++++ omnigibson/utils/usd_utils.py | 10 +- 11 files changed, 195 insertions(+), 167 deletions(-) create mode 100644 omnigibson/utils/backend_utils.py diff --git a/omnigibson/controllers/controller_base.py b/omnigibson/controllers/controller_base.py index b9f3c38a0..86500641a 100644 --- a/omnigibson/controllers/controller_base.py +++ b/omnigibson/controllers/controller_base.py @@ -3,12 +3,8 @@ from enum import IntEnum import torch as th -import numpy as np - -from omnigibson.utils.python_utils import Recreatable, Registerable, Serializable, assert_valid_key, classproperty, \ - recursively_convert_from_torch -import omnigibson.utils.transform_utils as TT -import omnigibson.utils.transform_utils_np as NT +from omnigibson.utils.python_utils import Recreatable, Registerable, Serializable, assert_valid_key, classproperty +from omnigibson.utils.backend_utils import _compute_backend as cb # Global dicts that will contain mappings REGISTERED_CONTROLLERS = dict() @@ -38,115 +34,7 @@ class IsGraspingState(IntEnum): FALSE = -1 -class _ControllerBackend: - array = None - int_array = None - prod = None - cat = None - zeros = None - ones = None - to_numpy = None - from_numpy = None - to_torch = None - from_torch = None - from_torch_recursive = None - allclose = None - arr_type = None - as_int = None - as_float32 = None - pinv = None - meshgrid = None - full = None - logical_or = None - all = None - abs = None - sqrt = None - mean = None - copy = None - eye = None - view = None - arange = None - where = None - squeeze = None - T = None - @classmethod - def set_methods(cls, backend): - for attr, fcn in backend.__dict__.items(): - # Do not override reserved functions - if attr.startswith("__"): - continue - # Set function to this backend - setattr(cls, attr, fcn) - - -class _ControllerTorchBackend(_ControllerBackend): - array = lambda *args: th.tensor(*args, dtype=th.float32) - int_array = lambda *args: th.tensor(*args, dtype=th.int32) - prod = th.prod - cat = th.cat - zeros = lambda *args: th.zeros(*args, dtype=th.float32) - ones = lambda *args: th.ones(*args, dtype=th.float32) - to_numpy = lambda x: x.numpy() - from_numpy = lambda x: th.from_numpy() - to_torch = lambda x: x - from_torch = lambda x: x - from_torch_recursive = lambda dic: dic - allclose = th.allclose - arr_type = th.Tensor - as_int = lambda arr: arr.int() - as_float32 = lambda arr: arr.float() - pinv = th.linalg.pinv - meshgrid = lambda idx_a, idx_b: th.meshgrid(idx_a, idx_b, indexing="xy") - full = lambda shape, fill_value: th.full(shape, fill_value, dtype=th.float32) - logical_or = th.logical_or - all = th.all - abs = th.abs - sqrt = th.sqrt - mean = lambda val, dim=None, keepdim=False: th.mean(val, dim=dim, keepdim=keepdim) - copy = lambda arr: arr.clone() - eye = th.eye - view = lambda arr, shape: arr.view(shape) - arange = th.arange - where = th.where - squeeze = lambda arr, dim=None: arr.squeeze(dim=dim) - T = TT - - -class _ControllerNumpyBackend(_ControllerBackend): - array = lambda *args: np.array(*args, dtype=np.float32) - int_array = lambda *args: np.array(*args, dtype=np.int32) - prod = np.prod - cat = np.concatenate - zeros = lambda *args: np.zeros(*args, dtype=np.float32) - ones = lambda *args: np.ones(*args, dtype=np.float32) - to_numpy = lambda x: x - from_numpy = lambda x: x - to_torch = lambda x: th.from_numpy(x) - from_torch = lambda x: x.numpy() - from_torch_recursive = recursively_convert_from_torch - allclose = np.allclose - arr_type = np.ndarray - as_int = lambda arr: arr.astype(int) - as_float32 = lambda arr: arr.astype(np.float32) - pinv = np.linalg.pinv - meshgrid = lambda idx_a, idx_b: np.ix_(idx_a, idx_b) - full = lambda shape, fill_value: np.full(shape, fill_value, dtype=np.float32) - logical_or = np.logical_or - all = np.all - abs = np.abs - sqrt = np.sqrt - mean = lambda val, dim=None, keepdim=False: np.mean(val, axis=dim, keepdims=keepdim) - copy = lambda arr: np.array(arr) - eye = np.eye - view = lambda arr, shape: arr.reshape(shape) - arange = np.arange - where = np.where - squeeze = lambda arr, dim=None: arr.squeeze(axis=dim) - T = NT - - -_controller_backend = _ControllerBackend # Define macros @@ -227,11 +115,11 @@ def __init__( ] assert "has_limit" in control_limits, "Expected has_limit specified in control_limits, but does not exist." self._dof_has_limits = control_limits["has_limit"] - self._dof_idx = _controller_backend.as_int(dof_idx) + self._dof_idx = cb.as_int(dof_idx) # Generate goal information self._goal_shapes = self._get_goal_shapes() - self._goal_dim = int(sum(_controller_backend.prod(_controller_backend.array(shape)) for shape in self._goal_shapes.values())) + self._goal_dim = int(sum(cb.prod(cb.array(shape)) for shape in self._goal_shapes.values())) # Initialize some other variables that will be filled in during runtime self._control = None @@ -242,15 +130,12 @@ def __init__( # Standardize command input / output limits to be (min_array, max_array) command_input_limits = ( - (-1.0, 1.0) + self._generate_default_command_input_limits() if type(command_input_limits) == str and command_input_limits == "default" else command_input_limits ) command_output_limits = ( - ( - self._control_limits[self.control_type][0][self.dof_idx], - self._control_limits[self.control_type][1][self.dof_idx], - ) + self._generate_default_command_output_limits() if type(command_output_limits) == str and command_output_limits == "default" else command_output_limits ) @@ -271,6 +156,31 @@ def __init__( ) ) + def _generate_default_command_input_limits(self): + """ + Generates default command input limits based on the control limits + + Returns: + 2-tuple: + - int or array: min command input limits + - int or array: max command input limits + """ + return (-1.0, 1.0) + + def _generate_default_command_output_limits(self): + """ + Generates default command output limits based on the control limits + + Returns: + 2-tuple: + - int or array: min command output limits + - int or array: max command output limits + """ + return ( + self._control_limits[self.control_type][0][self.dof_idx], + self._control_limits[self.control_type][1][self.dof_idx], + ) + def _preprocess_command(self, command): """ Clips + scales inputted @command according to self.command_input_limits and self.command_output_limits. @@ -284,7 +194,7 @@ def _preprocess_command(self, command): Array[float]: Processed command vector """ # Make sure command is a th.tensor - command = _controller_backend.array([command]) if type(command) in {int, float} else command + command = cb.array([command]) if type(command) in {int, float} else command # We only clip and / or scale if self.command_input_limits exists if self._command_input_limits is not None: # Clip @@ -469,23 +379,31 @@ def _dump_state(self): # Default is just the command return dict( goal_is_valid=self._goal is not None, - goal=self._goal, + goal=None if self._goal is None else {k: cb.to_torch(v) for k, v in self._goal.items()}, ) def _load_state(self, state): # Make sure every entry in goal is a numpy array # Load goal - self._goal = None if state["goal"] is None else {name: goal_state for name, goal_state in state["goal"].items()} + if state["goal"] is None: + self._goal = None + else: + self._goal = dict() + for name, goal_state in state["goal"].items(): + if isinstance(goal_state, th.Tensor): + self._goal[name] = cb.from_torch(goal_state) + else: + self._goal[name] = goal_state def serialize(self, state): # Make sure size of the state is consistent, even if we have no goal goal_state_flattened = ( - _controller_backend.cat([goal_state.flatten() for goal_state in self._goal.values()]) + th.cat([goal_state.flatten() for goal_state in state["goal"].values()]) if (state)["goal_is_valid"] - else _controller_backend.zeros(self.goal_dim) + else th.zeros(self.goal_dim) ) - return _controller_backend.cat([_controller_backend.array([state["goal_is_valid"]]), goal_state_flattened]) + return cb.cat([cb.array([state["goal_is_valid"]]), goal_state_flattened]) def deserialize(self, state): goal_is_valid = bool(state[0]) @@ -534,12 +452,8 @@ def nums2array(nums, dim): # Else, input is a single value, so we map to a numpy array of correct size and return return ( nums - if isinstance(nums, _controller_backend.arr_type) - else ( - _controller_backend.array(nums) - if isinstance(nums, Iterable) - else _controller_backend.ones(dim) * nums - ) + if isinstance(nums, cb.arr_type) + else cb.array(nums)if isinstance(nums, Iterable) else cb.ones(dim) * nums ) @property diff --git a/omnigibson/controllers/dd_controller.py b/omnigibson/controllers/dd_controller.py index da35e3f86..c4f15a246 100644 --- a/omnigibson/controllers/dd_controller.py +++ b/omnigibson/controllers/dd_controller.py @@ -1,5 +1,5 @@ from omnigibson.controllers import ControlType, LocomotionController -from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.utils.backend_utils import _compute_backend as cb class DifferentialDriveController(LocomotionController): diff --git a/omnigibson/controllers/ik_controller.py b/omnigibson/controllers/ik_controller.py index 88bd506a5..a42e46228 100644 --- a/omnigibson/controllers/ik_controller.py +++ b/omnigibson/controllers/ik_controller.py @@ -1,13 +1,11 @@ import math from collections.abc import Iterable -from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerTorchBackend, _ControllerNumpyBackend -from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeTorchBackend, _ComputeNumpyBackend +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.controllers import ControlType, ManipulationController from omnigibson.controllers.joint_controller import JointController -from omnigibson.macros import create_module_macros, gm from omnigibson.utils.processing_utils import MovingAverageFilter -from omnigibson.utils.python_utils import assert_valid_key from omnigibson.utils.ui_utils import create_module_logger # Create module logger @@ -43,8 +41,8 @@ def __init__( dof_idx, command_input_limits="default", command_output_limits=( - (-0.2, -0.2, -0.2, -0.5, -0.5, -0.5), - (0.2, 0.2, 0.2, 0.5, 0.5, 0.5), + (-0.2, -0.2, -0.2, -0.5, -0.5, -0.5), + (0.2, 0.2, 0.2, 0.5, 0.5, 0.5), ), pos_kp=None, pos_damping_ratio=None, @@ -117,11 +115,11 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D """ # Store arguments control_dim = len(dof_idx) - self.control_filter = None #( - # None - # if smoothing_filter_size in {None, 0} - # else MovingAverageFilter(obs_dim=control_dim, filter_width=smoothing_filter_size) - # ) + self.control_filter = ( + None + if smoothing_filter_size in {None, 0} + else MovingAverageFilter(obs_dim=control_dim, filter_width=smoothing_filter_size) + ) assert mode in IK_MODES, f"Invalid ik mode specified! Valid options are: {IK_MODES}, got: {mode}" # If mode is absolute pose, make sure command input limits / output limits are None @@ -431,7 +429,7 @@ def _compute_ik_qpos_numpy( # Set these as part of the backend values -setattr(_ControllerBackend, "compute_ik_qpos", None) -setattr(_ControllerTorchBackend, "compute_ik_qpos", _compute_ik_qpos_torch) -setattr(_ControllerNumpyBackend, "compute_ik_qpos", _compute_ik_qpos_numpy) +setattr(_ComputeBackend, "compute_ik_qpos", None) +setattr(_ComputeTorchBackend, "compute_ik_qpos", _compute_ik_qpos_torch) +setattr(_ComputeNumpyBackend, "compute_ik_qpos", _compute_ik_qpos_numpy) diff --git a/omnigibson/controllers/joint_controller.py b/omnigibson/controllers/joint_controller.py index 662422741..c11eaaf64 100644 --- a/omnigibson/controllers/joint_controller.py +++ b/omnigibson/controllers/joint_controller.py @@ -1,7 +1,7 @@ import math -from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerTorchBackend, _ControllerNumpyBackend -from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeTorchBackend, _ComputeNumpyBackend +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.controllers import ( ControlType, GripperController, @@ -333,7 +333,7 @@ def _compute_joint_torques_numpy( # Set these as part of the backend values -setattr(_ControllerBackend, "compute_joint_torques", None) -setattr(_ControllerTorchBackend, "compute_joint_torques", _compute_joint_torques_torch) -setattr(_ControllerNumpyBackend, "compute_joint_torques", _compute_joint_torques_numpy) +setattr(_ComputeBackend, "compute_joint_torques", None) +setattr(_ComputeTorchBackend, "compute_joint_torques", _compute_joint_torques_torch) +setattr(_ComputeNumpyBackend, "compute_joint_torques", _compute_joint_torques_numpy) diff --git a/omnigibson/controllers/multi_finger_gripper_controller.py b/omnigibson/controllers/multi_finger_gripper_controller.py index c07a8f51b..87c356b7a 100644 --- a/omnigibson/controllers/multi_finger_gripper_controller.py +++ b/omnigibson/controllers/multi_finger_gripper_controller.py @@ -1,4 +1,4 @@ -from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.controllers import ControlType, GripperController, IsGraspingState from omnigibson.macros import create_module_macros from omnigibson.utils.python_utils import assert_valid_key diff --git a/omnigibson/controllers/null_joint_controller.py b/omnigibson/controllers/null_joint_controller.py index eea678a0a..83782c7db 100644 --- a/omnigibson/controllers/null_joint_controller.py +++ b/omnigibson/controllers/null_joint_controller.py @@ -1,4 +1,4 @@ -from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.controllers import JointController diff --git a/omnigibson/controllers/osc_controller.py b/omnigibson/controllers/osc_controller.py index dc74f1178..53c396a1d 100644 --- a/omnigibson/controllers/osc_controller.py +++ b/omnigibson/controllers/osc_controller.py @@ -1,7 +1,7 @@ import math -from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerTorchBackend, _ControllerNumpyBackend -from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeTorchBackend, _ComputeNumpyBackend +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.controllers import ControlType, ManipulationController from omnigibson.utils.processing_utils import MovingAverageFilter from omnigibson.utils.python_utils import assert_valid_key @@ -642,6 +642,6 @@ def _compute_osc_torques_numpy( # Set these as part of the backend values -setattr(_ControllerBackend, "compute_osc_torques", None) -setattr(_ControllerTorchBackend, "compute_osc_torques", _compute_osc_torques_torch) -setattr(_ControllerNumpyBackend, "compute_osc_torques", _compute_osc_torques_numpy) +setattr(_ComputeBackend, "compute_osc_torques", None) +setattr(_ComputeTorchBackend, "compute_osc_torques", _compute_osc_torques_torch) +setattr(_ComputeNumpyBackend, "compute_osc_torques", _compute_osc_torques_numpy) diff --git a/omnigibson/objects/controllable_object.py b/omnigibson/objects/controllable_object.py index bcad603a8..b312ec7b0 100644 --- a/omnigibson/objects/controllable_object.py +++ b/omnigibson/objects/controllable_object.py @@ -10,7 +10,7 @@ import omnigibson as og from omnigibson.controllers import create_controller from omnigibson.controllers.controller_base import ControlType -from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.objects.object_base import BaseObject from omnigibson.utils.constants import JointType, PrimType from omnigibson.utils.numpy_utils import NumpyTypes diff --git a/omnigibson/robots/holonomic_base_robot.py b/omnigibson/robots/holonomic_base_robot.py index 915d595d3..25ff76691 100644 --- a/omnigibson/robots/holonomic_base_robot.py +++ b/omnigibson/robots/holonomic_base_robot.py @@ -6,7 +6,7 @@ import omnigibson as og import omnigibson.lazy as lazy -from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.macros import create_module_macros from omnigibson.robots.locomotion_robot import LocomotionRobot from omnigibson.robots.manipulation_robot import ManipulationRobot diff --git a/omnigibson/utils/backend_utils.py b/omnigibson/utils/backend_utils.py new file mode 100644 index 000000000..ad93563fe --- /dev/null +++ b/omnigibson/utils/backend_utils.py @@ -0,0 +1,116 @@ +import torch as th +import numpy as np +import omnigibson.utils.transform_utils as TT +import omnigibson.utils.transform_utils_np as NT +from omnigibson.utils.python_utils import recursively_convert_from_torch + + +class _ComputeBackend: + array = None + int_array = None + prod = None + cat = None + zeros = None + ones = None + to_numpy = None + from_numpy = None + to_torch = None + from_torch = None + from_torch_recursive = None + allclose = None + arr_type = None + as_int = None + as_float32 = None + pinv = None + meshgrid = None + full = None + logical_or = None + all = None + abs = None + sqrt = None + mean = None + copy = None + eye = None + view = None + arange = None + where = None + squeeze = None + T = None + + @classmethod + def set_methods(cls, backend): + for attr, fcn in backend.__dict__.items(): + # Do not override reserved functions + if attr.startswith("__"): + continue + # Set function to this backend + setattr(cls, attr, fcn) + + +class _ComputeTorchBackend(_ComputeBackend): + array = lambda *args: th.tensor(*args, dtype=th.float32) + int_array = lambda *args: th.tensor(*args, dtype=th.int32) + prod = th.prod + cat = th.cat + zeros = lambda *args: th.zeros(*args, dtype=th.float32) + ones = lambda *args: th.ones(*args, dtype=th.float32) + to_numpy = lambda x: x.numpy() + from_numpy = lambda x: th.from_numpy() + to_torch = lambda x: x + from_torch = lambda x: x + from_torch_recursive = lambda dic: dic + allclose = th.allclose + arr_type = th.Tensor + as_int = lambda arr: arr.int() + as_float32 = lambda arr: arr.float() + pinv = th.linalg.pinv + meshgrid = lambda idx_a, idx_b: th.meshgrid(idx_a, idx_b, indexing="xy") + full = lambda shape, fill_value: th.full(shape, fill_value, dtype=th.float32) + logical_or = th.logical_or + all = th.all + abs = th.abs + sqrt = th.sqrt + mean = lambda val, dim=None, keepdim=False: th.mean(val, dim=dim, keepdim=keepdim) + copy = lambda arr: arr.clone() + eye = th.eye + view = lambda arr, shape: arr.view(shape) + arange = th.arange + where = th.where + squeeze = lambda arr, dim=None: arr.squeeze(dim=dim) + T = TT + + +class _ComputeNumpyBackend(_ComputeBackend): + array = lambda *args: np.array(*args, dtype=np.float32) + int_array = lambda *args: np.array(*args, dtype=np.int32) + prod = np.prod + cat = np.concatenate + zeros = lambda *args: np.zeros(*args, dtype=np.float32) + ones = lambda *args: np.ones(*args, dtype=np.float32) + to_numpy = lambda x: x + from_numpy = lambda x: x + to_torch = lambda x: th.from_numpy(x) + from_torch = lambda x: x.numpy() + from_torch_recursive = recursively_convert_from_torch + allclose = np.allclose + arr_type = np.ndarray + as_int = lambda arr: arr.astype(int) + as_float32 = lambda arr: arr.astype(np.float32) + pinv = np.linalg.pinv + meshgrid = lambda idx_a, idx_b: np.ix_(idx_a, idx_b) + full = lambda shape, fill_value: np.full(shape, fill_value, dtype=np.float32) + logical_or = np.logical_or + all = np.all + abs = np.abs + sqrt = np.sqrt + mean = lambda val, dim=None, keepdim=False: np.mean(val, axis=dim, keepdims=keepdim) + copy = lambda arr: np.array(arr) + eye = np.eye + view = lambda arr, shape: arr.reshape(shape) + arange = np.arange + where = np.where + squeeze = lambda arr, dim=None: arr.squeeze(axis=dim) + T = NT + + +_compute_backend = _ComputeBackend diff --git a/omnigibson/utils/usd_utils.py b/omnigibson/utils/usd_utils.py index 037f669b1..b02af97ba 100644 --- a/omnigibson/utils/usd_utils.py +++ b/omnigibson/utils/usd_utils.py @@ -12,8 +12,8 @@ import omnigibson as og import omnigibson.lazy as lazy -from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerTorchBackend, _ControllerNumpyBackend -from omnigibson.controllers.controller_base import _controller_backend as cb +from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeTorchBackend, _ComputeNumpyBackend +from omnigibson.utils.backend_utils import _compute_backend as cb import omnigibson.utils.transform_utils as T from omnigibson.macros import gm from omnigibson.utils.constants import PRIMITIVE_MESH_TYPES, JointType, PrimType @@ -1930,7 +1930,7 @@ def _compute_relative_poses_numpy(idx, n_links, all_tfs, base_pose): # Set these as part of the backend values -setattr(_ControllerBackend, "compute_relative_poses", None) -setattr(_ControllerTorchBackend, "compute_relative_poses", _compute_relative_poses_torch) -setattr(_ControllerNumpyBackend, "compute_relative_poses", _compute_relative_poses_numpy) +setattr(_ComputeBackend, "compute_relative_poses", None) +setattr(_ComputeTorchBackend, "compute_relative_poses", _compute_relative_poses_torch) +setattr(_ComputeNumpyBackend, "compute_relative_poses", _compute_relative_poses_numpy) From 3b8d114f20fd82678bdf485b95153e67afb3cf8f Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 11 Dec 2024 17:27:50 -0800 Subject: [PATCH 33/55] update filters to use compute backend --- omnigibson/utils/processing_utils.py | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/omnigibson/utils/processing_utils.py b/omnigibson/utils/processing_utils.py index bb32f35f5..8577c7232 100644 --- a/omnigibson/utils/processing_utils.py +++ b/omnigibson/utils/processing_utils.py @@ -1,6 +1,7 @@ import torch as th from omnigibson.utils.python_utils import Serializable +from omnigibson.utils.backend_utils import _compute_backend as cb class Filter(Serializable): @@ -59,7 +60,7 @@ def __init__(self, obs_dim, filter_width): self.obs_dim = obs_dim assert filter_width > 0, f"MovingAverageFilter must have a non-zero size! Got: {filter_width}" self.filter_width = filter_width - self.past_samples = th.zeros((filter_width, obs_dim)) + self.past_samples = cb.zeros((filter_width, obs_dim)) self.current_idx = 0 self.fully_filled = False # Whether the entire filter buffer is filled or not @@ -103,7 +104,7 @@ def _dump_state(self): state = super()._dump_state() # Add info from this filter - state["past_samples"] = self.past_samples + state["past_samples"] = cb.to_torch(self.past_samples) state["current_idx"] = self.current_idx state["fully_filled"] = self.fully_filled @@ -114,7 +115,7 @@ def _load_state(self, state): super()._load_state(state=state) # Load relevant info for this filter - self.past_samples = state["past_samples"] + self.past_samples = cb.from_torch(state["past_samples"]) self.current_idx = state["current_idx"] self.fully_filled = state["fully_filled"] @@ -159,7 +160,7 @@ def __init__(self, obs_dim, alpha=0.9): alpha (float): The relative weighting of new samples relative to older samples """ self.obs_dim = obs_dim - self.avg = th.zeros(obs_dim) + self.avg = cb.zeros(obs_dim) self.num_samples = 0 self.alpha = alpha @@ -178,7 +179,7 @@ def estimate(self, observation): self.avg = self.alpha * observation + (1.0 - self.alpha) * self.avg self.num_samples += 1 - return th.tensor(self.avg) + return cb.copy(self.avg) def reset(self): # Clear internal state @@ -190,7 +191,7 @@ def _dump_state(self): state = super()._dump_state() # Add info from this filter - state["avg"] = th.tensor(self.avg) + state["avg"] = cb.to_torch(self.avg) state["num_samples"] = self.num_samples return state @@ -200,7 +201,7 @@ def _load_state(self, state): super()._load_state(state=state) # Load relevant info for this filter - self.avg = th.tensor(state["avg"]) + self.avg = cb.from_torch(state["avg"]) self.num_samples = state["num_samples"] def serialize(self, state): From e45e719fc3956435693842ef867011337bfe5ffd Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 11 Dec 2024 17:34:03 -0800 Subject: [PATCH 34/55] fix controller bugs --- omnigibson/controllers/ik_controller.py | 4 ++-- .../controllers/multi_finger_gripper_controller.py | 9 ++++++--- omnigibson/objects/dataset_object.py | 2 +- omnigibson/simulator.py | 11 ++++++++--- omnigibson/utils/config_utils.py | 1 + 5 files changed, 18 insertions(+), 9 deletions(-) diff --git a/omnigibson/controllers/ik_controller.py b/omnigibson/controllers/ik_controller.py index a42e46228..b4a8502a4 100644 --- a/omnigibson/controllers/ik_controller.py +++ b/omnigibson/controllers/ik_controller.py @@ -217,10 +217,10 @@ def serialize(self, state): state_flat = super().serialize(state=state) # Serialize state for this controller - return cb.cat( + return th.cat( [ state_flat, - cb.array([]) if self.control_filter is None else self.control_filter.serialize(state=state["control_filter"]), + th.tensor([]) if self.control_filter is None else self.control_filter.serialize(state=state["control_filter"]), ] ) diff --git a/omnigibson/controllers/multi_finger_gripper_controller.py b/omnigibson/controllers/multi_finger_gripper_controller.py index 87c356b7a..933721b05 100644 --- a/omnigibson/controllers/multi_finger_gripper_controller.py +++ b/omnigibson/controllers/multi_finger_gripper_controller.py @@ -112,6 +112,11 @@ def __init__( command_output_limits=command_output_limits, ) + def _generate_default_command_output_limits(self): + command_output_limits = super()._generate_default_command_output_limits() + + return cb.mean(command_output_limits[0]), cb.mean(command_output_limits[1]) + def reset(self): # Call super first super().reset() @@ -249,9 +254,7 @@ def _update_grasping_state(self, control_dict): dist_from_upper_limit = max_pos - finger_pos # If either of the joint positions are not near the joint limits with some tolerance (m.POS_TOLERANCE) - valid_grasp_pos = ( - dist_from_lower_limit.mean() > m.POS_TOLERANCE or dist_from_upper_limit.mean() > m.POS_TOLERANCE - ) + valid_grasp_pos = dist_from_lower_limit.mean() > m.POS_TOLERANCE or dist_from_upper_limit.mean() > m.POS_TOLERANCE # And the joint velocities are close to zero with some tolerance (m.VEL_TOLERANCE) valid_grasp_vel = cb.all(cb.abs(finger_vel) < m.VEL_TOLERANCE) diff --git a/omnigibson/objects/dataset_object.py b/omnigibson/objects/dataset_object.py index a2058af2b..fc1e747e2 100644 --- a/omnigibson/objects/dataset_object.py +++ b/omnigibson/objects/dataset_object.py @@ -244,7 +244,7 @@ def _post_load(self): scale = th.ones(3) if self._load_config["scale"] is None else self._load_config["scale"] # Assert that the scale does not have too small dimensions - assert th.all(scale > 1e-4), f"Scale of {self.name} is too small: {scale}" + assert th.all(th.tensor(scale) > 1e-4), f"Scale of {self.name} is too small: {scale}" # Set this scale in the load config -- it will automatically scale the object during self.initialize() self._load_config["scale"] = scale diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py index 17cf95dd7..183cb5926 100644 --- a/omnigibson/simulator.py +++ b/omnigibson/simulator.py @@ -221,6 +221,7 @@ def _launch_app(): "Content", "Flow", "Semantics Schema Editor", + "VR", ] ) @@ -239,9 +240,13 @@ def _launch_app(): # Loading Isaac Sim disables Ctrl+C, so we need to re-enable it signal.signal(signal.SIGINT, og.shutdown_handler) - # Set controller backend - import omnigibson.controllers.controller_base as CB - CB._controller_backend.set_methods(CB._ControllerNumpyBackend if gm.USE_NUMPY_CONTROLLER_BACKEND else CB._ControllerTorchBackend) + # Set compute backend + import omnigibson.utils.backend_utils as _backend_utils + _backend_utils._compute_backend.set_methods( + _backend_utils._ComputeNumpyBackend + if gm.USE_NUMPY_CONTROLLER_BACKEND + else _backend_utils._ComputeTorchBackend + ) return app diff --git a/omnigibson/utils/config_utils.py b/omnigibson/utils/config_utils.py index dd467c382..82f9b1e91 100644 --- a/omnigibson/utils/config_utils.py +++ b/omnigibson/utils/config_utils.py @@ -2,6 +2,7 @@ import json import os +import numpy as np import torch as th import yaml From e9219c22efdef50640ad4b78b61ef71389fd4782 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 11 Dec 2024 18:55:03 -0800 Subject: [PATCH 35/55] fix proprioception dict generation --- omnigibson/robots/active_camera_robot.py | 4 ++-- omnigibson/robots/articulated_trunk_robot.py | 4 ++-- omnigibson/robots/locomotion_robot.py | 4 ++-- omnigibson/robots/manipulation_robot.py | 20 ++++++++++---------- omnigibson/robots/robot_base.py | 12 +++++++----- 5 files changed, 23 insertions(+), 21 deletions(-) diff --git a/omnigibson/robots/active_camera_robot.py b/omnigibson/robots/active_camera_robot.py index 6d330b489..73347b797 100644 --- a/omnigibson/robots/active_camera_robot.py +++ b/omnigibson/robots/active_camera_robot.py @@ -38,8 +38,8 @@ def _get_proprioception_dict(self): dic = super()._get_proprioception_dict() # Add camera pos info - joint_positions = ControllableObjectViewAPI.get_joint_positions(self.articulation_root_path) - joint_velocities = ControllableObjectViewAPI.get_joint_velocities(self.articulation_root_path) + joint_positions = dic["joint_qpos"] + joint_velocities = dic["joint_qvel"] dic["camera_qpos"] = joint_positions[self.camera_control_idx] dic["camera_qpos_sin"] = th.sin(joint_positions[self.camera_control_idx]) dic["camera_qpos_cos"] = th.cos(joint_positions[self.camera_control_idx]) diff --git a/omnigibson/robots/articulated_trunk_robot.py b/omnigibson/robots/articulated_trunk_robot.py index d4906c65f..7387d7a11 100644 --- a/omnigibson/robots/articulated_trunk_robot.py +++ b/omnigibson/robots/articulated_trunk_robot.py @@ -165,8 +165,8 @@ def _get_proprioception_dict(self): dic = super()._get_proprioception_dict() # Add trunk info - joint_positions = ControllableObjectViewAPI.get_joint_positions(self.articulation_root_path) - joint_velocities = ControllableObjectViewAPI.get_joint_velocities(self.articulation_root_path) + joint_positions = dic["joint_qpos"] + joint_velocities = dic["joint_qvel"] dic["trunk_qpos"] = joint_positions[self.trunk_control_idx] dic["trunk_qvel"] = joint_velocities[self.trunk_control_idx] diff --git a/omnigibson/robots/locomotion_robot.py b/omnigibson/robots/locomotion_robot.py index 7eafea0e6..9cf9d1a54 100644 --- a/omnigibson/robots/locomotion_robot.py +++ b/omnigibson/robots/locomotion_robot.py @@ -40,8 +40,8 @@ def _validate_configuration(self): def _get_proprioception_dict(self): dic = super()._get_proprioception_dict() - joint_positions = ControllableObjectViewAPI.get_joint_positions(self.articulation_root_path) - joint_velocities = ControllableObjectViewAPI.get_joint_velocities(self.articulation_root_path) + joint_positions = dic["joint_qpos"] + joint_velocities = dic["joint_qvel"] # Add base info dic["base_qpos"] = joint_positions[self.base_control_idx] diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py index 48450afea..8fa160208 100644 --- a/omnigibson/robots/manipulation_robot.py +++ b/omnigibson/robots/manipulation_robot.py @@ -10,6 +10,7 @@ import omnigibson as og import omnigibson.lazy as lazy +from omnigibson.utils.backend_utils import _compute_backend as cb import omnigibson.utils.transform_utils as T from omnigibson.controllers import ( ControlType, @@ -414,8 +415,8 @@ def _get_proprioception_dict(self): dic = super()._get_proprioception_dict() # Loop over all arms to grab proprio info - joint_positions = ControllableObjectViewAPI.get_joint_positions(self.articulation_root_path) - joint_velocities = ControllableObjectViewAPI.get_joint_velocities(self.articulation_root_path) + joint_positions = dic["joint_qpos"] + joint_velocities = dic["joint_qvel"] for arm in self.arm_names: # Add arm info dic["arm_{}_qpos".format(arm)] = joint_positions[self.arm_control_idx[arm]] @@ -424,11 +425,10 @@ def _get_proprioception_dict(self): dic["arm_{}_qvel".format(arm)] = joint_velocities[self.arm_control_idx[arm]] # Add eef and grasping info - dic["eef_{}_pos".format(arm)], dic["eef_{}_quat".format(arm)] = ( - ControllableObjectViewAPI.get_link_relative_position_orientation( - self.articulation_root_path, self.eef_link_names[arm] - ) + eef_pos, eef_quat = ControllableObjectViewAPI.get_link_relative_position_orientation( + self.articulation_root_path, self.eef_link_names[arm] ) + dic["eef_{}_pos".format(arm)], dic["eef_{}_quat".format(arm)] = cb.to_torch(eef_pos), cb.to_torch(eef_quat) dic["grasp_{}".format(arm)] = th.tensor([self.is_grasping(arm)]) dic["gripper_{}_qpos".format(arm)] = joint_positions[self.gripper_control_idx[arm]] dic["gripper_{}_qvel".format(arm)] = joint_velocities[self.gripper_control_idx[arm]] @@ -979,11 +979,11 @@ def _freeze_gripper(self, arm="default"): def curobo_path(self): """ Returns: - str or Dict[CuroboEmbodimentSelection, str]: file path to the robot curobo file or a mapping from - CuroboEmbodimentSelection to the file path + str or Dict[CuRoboEmbodimentSelection, str]: file path to the robot curobo file or a mapping from + CuRoboEmbodimentSelection to the file path """ # Import here to avoid circular imports - from omnigibson.action_primitives.curobo import CuroboEmbodimentSelection + from omnigibson.action_primitives.curobo import CuRoboEmbodimentSelection # By default, sets the standardized path model = self.model_name.lower() @@ -991,7 +991,7 @@ def curobo_path(self): emb_sel: os.path.join( gm.ASSET_PATH, f"models/{model}/curobo/{model}_description_curobo_{emb_sel.value}.yaml" ) - for emb_sel in CuroboEmbodimentSelection + for emb_sel in CuRoboEmbodimentSelection } @property diff --git a/omnigibson/robots/robot_base.py b/omnigibson/robots/robot_base.py index 834b9bbb8..969a8d0b1 100644 --- a/omnigibson/robots/robot_base.py +++ b/omnigibson/robots/robot_base.py @@ -14,6 +14,7 @@ VisionSensor, create_sensor, ) +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.utils.constants import PrimType from omnigibson.utils.gym_utils import GymObservable from omnigibson.utils.numpy_utils import NumpyTypes @@ -295,10 +296,11 @@ def _get_proprioception_dict(self): dict: keyword-mapped proprioception observations available for this robot. Can be extended by subclasses """ - joint_positions = ControllableObjectViewAPI.get_joint_positions(self.articulation_root_path) - joint_velocities = ControllableObjectViewAPI.get_joint_velocities(self.articulation_root_path) - joint_efforts = ControllableObjectViewAPI.get_joint_efforts(self.articulation_root_path) + joint_positions = cb.to_torch(ControllableObjectViewAPI.get_joint_positions(self.articulation_root_path)) + joint_velocities = cb.to_torch(ControllableObjectViewAPI.get_joint_velocities(self.articulation_root_path)) + joint_efforts = cb.to_torch(ControllableObjectViewAPI.get_joint_efforts(self.articulation_root_path)) pos, quat = ControllableObjectViewAPI.get_position_orientation(self.articulation_root_path) + pos, quat = cb.to_torch(pos), cb.to_torch(quat) ori = T.quat2euler(quat) ori_2d = T.z_angle_from_quat(quat) @@ -316,8 +318,8 @@ def _get_proprioception_dict(self): robot_2d_ori=ori_2d, robot_2d_ori_cos=th.cos(ori_2d), robot_2d_ori_sin=th.sin(ori_2d), - robot_lin_vel=ControllableObjectViewAPI.get_linear_velocity(self.articulation_root_path), - robot_ang_vel=ControllableObjectViewAPI.get_angular_velocity(self.articulation_root_path), + robot_lin_vel=cb.to_torch(ControllableObjectViewAPI.get_linear_velocity(self.articulation_root_path)), + robot_ang_vel=cb.to_torch(ControllableObjectViewAPI.get_angular_velocity(self.articulation_root_path)), ) def _load_observation_space(self): From 50d390a48b8c9ea76647c8314b34fbae96283e7f Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 11 Dec 2024 18:56:06 -0800 Subject: [PATCH 36/55] fix holonomic robot pose setting --- omnigibson/robots/holonomic_base_robot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/omnigibson/robots/holonomic_base_robot.py b/omnigibson/robots/holonomic_base_robot.py index 25ff76691..fca8391f7 100644 --- a/omnigibson/robots/holonomic_base_robot.py +++ b/omnigibson/robots/holonomic_base_robot.py @@ -254,7 +254,7 @@ def set_position_orientation(self, position=None, orientation=None, frame: Liter joint_pos, joint_orn = cb.from_torch(joint_pos), cb.from_torch(joint_orn) inv_joint_pos, inv_joint_orn = cb.T.mat2pose(cb.T.pose_inv(cb.T.pose2mat((joint_pos, joint_orn)))) - relative_pos, relative_orn = cb.T.pose_transform(inv_joint_pos, inv_joint_orn, position, orientation) + relative_pos, relative_orn = cb.T.pose_transform(inv_joint_pos, inv_joint_orn, cb.from_torch(position), cb.from_torch(orientation)) relative_rpy = cb.T.quat2euler(relative_orn) self.joints["base_footprint_x_joint"].set_pos(relative_pos[0], drive=False) self.joints["base_footprint_y_joint"].set_pos(relative_pos[1], drive=False) From fd07d8a8bd50829a5c4f7d0b35444e21878df177 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 11 Dec 2024 18:56:48 -0800 Subject: [PATCH 37/55] fix controllable object and filters state de/serialization --- omnigibson/controllers/controller_base.py | 2 +- omnigibson/objects/controllable_object.py | 6 +++--- omnigibson/utils/processing_utils.py | 4 ++-- tests/test_controllers.py | 19 ++++++++----------- 4 files changed, 14 insertions(+), 17 deletions(-) diff --git a/omnigibson/controllers/controller_base.py b/omnigibson/controllers/controller_base.py index 86500641a..07157bad0 100644 --- a/omnigibson/controllers/controller_base.py +++ b/omnigibson/controllers/controller_base.py @@ -403,7 +403,7 @@ def serialize(self, state): else th.zeros(self.goal_dim) ) - return cb.cat([cb.array([state["goal_is_valid"]]), goal_state_flattened]) + return th.cat([th.tensor([state["goal_is_valid"]]), goal_state_flattened]) def deserialize(self, state): goal_is_valid = bool(state[0]) diff --git a/omnigibson/objects/controllable_object.py b/omnigibson/objects/controllable_object.py index b312ec7b0..60e19fa74 100644 --- a/omnigibson/objects/controllable_object.py +++ b/omnigibson/objects/controllable_object.py @@ -704,9 +704,9 @@ def serialize(self, state): state_flat = super().serialize(state=state) # Serialize the controller states sequentially - controller_states_flat = cb.to_torch(cb.cat( + controller_states_flat = th.cat( [c.serialize(state=state["controllers"][c_name]) for c_name, c in self._controllers.items()] - )) + ) # Concatenate and return return th.cat([state_flat, controller_states_flat]) @@ -718,7 +718,7 @@ def deserialize(self, state): # Deserialize the controller states sequentially controller_states = dict() for c_name, c in self._controllers.items(): - controller_states[c_name], deserialized_items = c.deserialize(state=cb.from_torch(state[idx:])) + controller_states[c_name], deserialized_items = c.deserialize(state=state[idx:]) idx += deserialized_items state_dict["controllers"] = controller_states diff --git a/omnigibson/utils/processing_utils.py b/omnigibson/utils/processing_utils.py index 8577c7232..6d6045626 100644 --- a/omnigibson/utils/processing_utils.py +++ b/omnigibson/utils/processing_utils.py @@ -81,12 +81,12 @@ def estimate(self, observation): # Compute value based on whether we're fully filled or not if not self.fully_filled: - val = self.past_samples[: self.current_idx + 1, :].mean(dim=0) + val = cb.mean(self.past_samples[: self.current_idx + 1, :], dim=0) # Denote that we're fully filled if we're at the end of the buffer if self.current_idx == self.filter_width - 1: self.fully_filled = True else: - val = self.past_samples.mean(dim=0) + val = cb.mean(self.past_samples, dim=0) # Increment the index to write the next sample to self.current_idx = (self.current_idx + 1) % self.filter_width diff --git a/tests/test_controllers.py b/tests/test_controllers.py index 7b13674aa..5b2fda7ff 100644 --- a/tests/test_controllers.py +++ b/tests/test_controllers.py @@ -4,6 +4,7 @@ import omnigibson as og import omnigibson.utils.transform_utils as T +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.robots import LocomotionRobot @@ -18,7 +19,7 @@ def test_arm_control(): { "type": "FrankaPanda", "name": "robot0", - "obs_modalities": "rgb", + "obs_modalities": [], "position": [150, 150, 100], "orientation": [0, 0, 0, 1], "action_normalize": False, @@ -26,7 +27,7 @@ def test_arm_control(): { "type": "Fetch", "name": "robot1", - "obs_modalities": "rgb", + "obs_modalities": [], "position": [150, 150, 105], "orientation": [0, 0, 0, 1], "action_normalize": False, @@ -34,7 +35,7 @@ def test_arm_control(): { "type": "Tiago", "name": "robot2", - "obs_modalities": "rgb", + "obs_modalities": [], "position": [150, 150, 110], "orientation": [0, 0, 0, 1], "action_normalize": False, @@ -42,7 +43,7 @@ def test_arm_control(): { "type": "A1", "name": "robot3", - "obs_modalities": "rgb", + "obs_modalities": [], "position": [150, 150, 115], "orientation": [0, 0, 0, 1], "action_normalize": False, @@ -50,7 +51,7 @@ def test_arm_control(): { "type": "R1", "name": "robot4", - "obs_modalities": "rgb", + "obs_modalities": [], "position": [150, 150, 120], "orientation": [0, 0, 0, 1], "action_normalize": False, @@ -296,12 +297,8 @@ def check_ori_error(curr_orientation, init_orientation, tol=0.1): curr_pos, curr_quat = robot.get_relative_eef_pose(arm=arm) arm_controller = robot.controllers[f"arm_{arm}"] arm_goal = arm_controller.goal - target_pos = arm_goal["target_pos"] - target_quat = ( - arm_goal["target_quat"] - if controller == "InverseKinematicsController" - else T.mat2quat(arm_goal["target_ori_mat"]) - ) + target_pos = cb.to_torch(arm_goal["target_pos"]) + target_quat = T.mat2quat(cb.to_torch(arm_goal["target_ori_mat"])) pos_check = err_checks[controller_mode][action_name]["pos"] if pos_check is not None: is_valid_pos = pos_check(target_pos, curr_pos, init_pos) From 940192279edc476084a9e65d6aa7102f3958a59c Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 11 Dec 2024 18:57:03 -0800 Subject: [PATCH 38/55] make np tf use numba --- omnigibson/utils/transform_utils_np.py | 6 ------ 1 file changed, 6 deletions(-) diff --git a/omnigibson/utils/transform_utils_np.py b/omnigibson/utils/transform_utils_np.py index 237d98377..5c4997374 100644 --- a/omnigibson/utils/transform_utils_np.py +++ b/omnigibson/utils/transform_utils_np.py @@ -567,12 +567,6 @@ def _quat2mat(quaternion): return rotation_matrix -# def pose2mat(pose): -# if pose.dtype != np.float32: -# pose = pose.astype(np.float32) -# return _pose2mat(pose) - - @jit(nopython=True) def pose2mat(pose): """ From 920d1618558bcb6c26cbbdf51c632981c3ac5657 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 12 Dec 2024 03:07:34 +0000 Subject: [PATCH 39/55] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- omnigibson/controllers/controller_base.py | 8 +++---- omnigibson/controllers/ik_controller.py | 17 ++++++++++---- omnigibson/controllers/joint_controller.py | 12 ++++++---- .../multi_finger_gripper_controller.py | 6 +++-- .../controllers/null_joint_controller.py | 2 +- omnigibson/controllers/osc_controller.py | 16 ++++++++++--- omnigibson/objects/controllable_object.py | 2 +- omnigibson/robots/articulated_trunk_robot.py | 3 ++- omnigibson/robots/behavior_robot.py | 2 +- omnigibson/robots/holonomic_base_robot.py | 10 +++++--- omnigibson/robots/manipulation_robot.py | 4 ++-- omnigibson/robots/tiago.py | 2 +- omnigibson/simulator.py | 5 ++-- omnigibson/utils/backend_utils.py | 3 ++- omnigibson/utils/processing_utils.py | 2 +- omnigibson/utils/python_utils.py | 1 + omnigibson/utils/transform_utils.py | 1 - omnigibson/utils/usd_utils.py | 23 +++++++++++-------- tests/test_controllers.py | 2 +- 19 files changed, 76 insertions(+), 45 deletions(-) diff --git a/omnigibson/controllers/controller_base.py b/omnigibson/controllers/controller_base.py index 07157bad0..a863c49cf 100644 --- a/omnigibson/controllers/controller_base.py +++ b/omnigibson/controllers/controller_base.py @@ -3,8 +3,9 @@ from enum import IntEnum import torch as th -from omnigibson.utils.python_utils import Recreatable, Registerable, Serializable, assert_valid_key, classproperty + from omnigibson.utils.backend_utils import _compute_backend as cb +from omnigibson.utils.python_utils import Recreatable, Registerable, Serializable, assert_valid_key, classproperty # Global dicts that will contain mappings REGISTERED_CONTROLLERS = dict() @@ -34,9 +35,6 @@ class IsGraspingState(IntEnum): FALSE = -1 - - - # Define macros class ControlType: NONE = -1 @@ -453,7 +451,7 @@ def nums2array(nums, dim): return ( nums if isinstance(nums, cb.arr_type) - else cb.array(nums)if isinstance(nums, Iterable) else cb.ones(dim) * nums + else cb.array(nums) if isinstance(nums, Iterable) else cb.ones(dim) * nums ) @property diff --git a/omnigibson/controllers/ik_controller.py b/omnigibson/controllers/ik_controller.py index b4a8502a4..1983f846c 100644 --- a/omnigibson/controllers/ik_controller.py +++ b/omnigibson/controllers/ik_controller.py @@ -1,10 +1,10 @@ import math from collections.abc import Iterable -from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeTorchBackend, _ComputeNumpyBackend -from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.controllers import ControlType, ManipulationController from omnigibson.controllers.joint_controller import JointController +from omnigibson.utils.backend_utils import _compute_backend as cb +from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeNumpyBackend, _ComputeTorchBackend from omnigibson.utils.processing_utils import MovingAverageFilter from omnigibson.utils.ui_utils import create_module_logger @@ -220,7 +220,11 @@ def serialize(self, state): return th.cat( [ state_flat, - th.tensor([]) if self.control_filter is None else self.control_filter.serialize(state=state["control_filter"]), + ( + th.tensor([]) + if self.control_filter is None + else self.control_filter.serialize(state=state["control_filter"]) + ), ] ) @@ -368,7 +372,10 @@ def command_dim(self): import torch as th + import omnigibson.utils.transform_utils as TT + + @th.jit.script def _compute_ik_qpos_torch( q: th.Tensor, @@ -400,7 +407,10 @@ def _compute_ik_qpos_torch( import numpy as np from numba import jit + import omnigibson.utils.transform_utils_np as NT + + # Use numba since faster @jit(nopython=True) def _compute_ik_qpos_numpy( @@ -432,4 +442,3 @@ def _compute_ik_qpos_numpy( setattr(_ComputeBackend, "compute_ik_qpos", None) setattr(_ComputeTorchBackend, "compute_ik_qpos", _compute_ik_qpos_torch) setattr(_ComputeNumpyBackend, "compute_ik_qpos", _compute_ik_qpos_numpy) - diff --git a/omnigibson/controllers/joint_controller.py b/omnigibson/controllers/joint_controller.py index c11eaaf64..39dcb9a65 100644 --- a/omnigibson/controllers/joint_controller.py +++ b/omnigibson/controllers/joint_controller.py @@ -1,7 +1,5 @@ import math -from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeTorchBackend, _ComputeNumpyBackend -from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.controllers import ( ControlType, GripperController, @@ -10,6 +8,8 @@ ManipulationController, ) from omnigibson.macros import create_module_macros +from omnigibson.utils.backend_utils import _compute_backend as cb +from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeNumpyBackend, _ComputeTorchBackend from omnigibson.utils.python_utils import assert_valid_key from omnigibson.utils.ui_utils import create_module_logger @@ -286,6 +286,8 @@ def command_dim(self): import torch as th + + @th.compile def _compute_joint_torques_torch( u: th.Tensor, @@ -296,9 +298,10 @@ def _compute_joint_torques_torch( return mm[dof_idxs_mat] @ u - import numpy as np from numba import jit + + # Use numba since faster @jit(nopython=True) def numba_ix(arr, rows, cols): @@ -316,7 +319,7 @@ def numba_ix(arr, rows, cols): one_d_index = np.zeros(len(rows) * len(cols), dtype=np.int32) for i, r in enumerate(rows): start = i * len(cols) - one_d_index[start: start + len(cols)] = cols + arr.shape[1] * r + one_d_index[start : start + len(cols)] = cols + arr.shape[1] * r arr_1d = arr.reshape((arr.shape[0] * arr.shape[1], 1)) slice_1d = np.take(arr_1d, one_d_index) @@ -336,4 +339,3 @@ def _compute_joint_torques_numpy( setattr(_ComputeBackend, "compute_joint_torques", None) setattr(_ComputeTorchBackend, "compute_joint_torques", _compute_joint_torques_torch) setattr(_ComputeNumpyBackend, "compute_joint_torques", _compute_joint_torques_numpy) - diff --git a/omnigibson/controllers/multi_finger_gripper_controller.py b/omnigibson/controllers/multi_finger_gripper_controller.py index 933721b05..864eb24d4 100644 --- a/omnigibson/controllers/multi_finger_gripper_controller.py +++ b/omnigibson/controllers/multi_finger_gripper_controller.py @@ -1,6 +1,6 @@ -from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.controllers import ControlType, GripperController, IsGraspingState from omnigibson.macros import create_module_macros +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.utils.python_utils import assert_valid_key VALID_MODES = { @@ -254,7 +254,9 @@ def _update_grasping_state(self, control_dict): dist_from_upper_limit = max_pos - finger_pos # If either of the joint positions are not near the joint limits with some tolerance (m.POS_TOLERANCE) - valid_grasp_pos = dist_from_lower_limit.mean() > m.POS_TOLERANCE or dist_from_upper_limit.mean() > m.POS_TOLERANCE + valid_grasp_pos = ( + dist_from_lower_limit.mean() > m.POS_TOLERANCE or dist_from_upper_limit.mean() > m.POS_TOLERANCE + ) # And the joint velocities are close to zero with some tolerance (m.VEL_TOLERANCE) valid_grasp_vel = cb.all(cb.abs(finger_vel) < m.VEL_TOLERANCE) diff --git a/omnigibson/controllers/null_joint_controller.py b/omnigibson/controllers/null_joint_controller.py index 83782c7db..42bfd47d6 100644 --- a/omnigibson/controllers/null_joint_controller.py +++ b/omnigibson/controllers/null_joint_controller.py @@ -1,5 +1,5 @@ -from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.controllers import JointController +from omnigibson.utils.backend_utils import _compute_backend as cb class NullJointController(JointController): diff --git a/omnigibson/controllers/osc_controller.py b/omnigibson/controllers/osc_controller.py index 53c396a1d..032e501f0 100644 --- a/omnigibson/controllers/osc_controller.py +++ b/omnigibson/controllers/osc_controller.py @@ -1,8 +1,8 @@ import math -from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeTorchBackend, _ComputeNumpyBackend -from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.controllers import ControlType, ManipulationController +from omnigibson.utils.backend_utils import _compute_backend as cb +from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeNumpyBackend, _ComputeTorchBackend from omnigibson.utils.processing_utils import MovingAverageFilter from omnigibson.utils.python_utils import assert_valid_key from omnigibson.utils.ui_utils import create_module_logger @@ -412,7 +412,11 @@ def compute_control(self, goal_dict, control_dict): ee_pos=cb.as_float32(ee_pos), ee_mat=cb.as_float32(cb.T.quat2mat(ee_quat)), ee_lin_vel=cb.as_float32(ee_vel[:3]), - ee_ang_vel_err=cb.as_float32(cb.T.quat2axisangle(cb.T.quat_multiply(cb.T.axisangle2quat(-ee_vel[3:]), cb.T.axisangle2quat(base_ang_vel)))), + ee_ang_vel_err=cb.as_float32( + cb.T.quat2axisangle( + cb.T.quat_multiply(cb.T.axisangle2quat(-ee_vel[3:]), cb.T.axisangle2quat(base_ang_vel)) + ) + ), goal_pos=goal_dict["target_pos"], goal_ori_mat=goal_dict["target_ori_mat"], kp=kp, @@ -486,7 +490,10 @@ def command_dim(self): import torch as th + import omnigibson.utils.transform_utils as TT + + @th.jit.script def _compute_osc_torques_torch( q: th.Tensor, @@ -564,7 +571,10 @@ def _compute_osc_torques_torch( import numpy as np from numba import jit + import omnigibson.utils.transform_utils_np as NT + + # Use numba since faster @jit(nopython=True) def _compute_osc_torques_numpy( diff --git a/omnigibson/objects/controllable_object.py b/omnigibson/objects/controllable_object.py index 60e19fa74..ad96d7f10 100644 --- a/omnigibson/objects/controllable_object.py +++ b/omnigibson/objects/controllable_object.py @@ -10,8 +10,8 @@ import omnigibson as og from omnigibson.controllers import create_controller from omnigibson.controllers.controller_base import ControlType -from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.objects.object_base import BaseObject +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.utils.constants import JointType, PrimType from omnigibson.utils.numpy_utils import NumpyTypes from omnigibson.utils.python_utils import CachedFunctions, assert_valid_key, merge_nested_dicts diff --git a/omnigibson/robots/articulated_trunk_robot.py b/omnigibson/robots/articulated_trunk_robot.py index 7387d7a11..20a9e9ec1 100644 --- a/omnigibson/robots/articulated_trunk_robot.py +++ b/omnigibson/robots/articulated_trunk_robot.py @@ -1,6 +1,7 @@ -import torch as th from functools import cached_property +import torch as th + from omnigibson.robots.manipulation_robot import ManipulationRobot from omnigibson.utils.python_utils import classproperty from omnigibson.utils.usd_utils import ControllableObjectViewAPI diff --git a/omnigibson/robots/behavior_robot.py b/omnigibson/robots/behavior_robot.py index 7d3693412..b1eebd3de 100644 --- a/omnigibson/robots/behavior_robot.py +++ b/omnigibson/robots/behavior_robot.py @@ -1,9 +1,9 @@ import itertools -from functools import cached_property import math import os from abc import ABC from collections import OrderedDict +from functools import cached_property from typing import Iterable, List, Literal, Tuple import torch as th diff --git a/omnigibson/robots/holonomic_base_robot.py b/omnigibson/robots/holonomic_base_robot.py index fca8391f7..89abac3ee 100644 --- a/omnigibson/robots/holonomic_base_robot.py +++ b/omnigibson/robots/holonomic_base_robot.py @@ -6,10 +6,10 @@ import omnigibson as og import omnigibson.lazy as lazy -from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.macros import create_module_macros from omnigibson.robots.locomotion_robot import LocomotionRobot from omnigibson.robots.manipulation_robot import ManipulationRobot +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.utils.python_utils import classproperty from omnigibson.utils.usd_utils import ControllableObjectViewAPI @@ -254,7 +254,9 @@ def set_position_orientation(self, position=None, orientation=None, frame: Liter joint_pos, joint_orn = cb.from_torch(joint_pos), cb.from_torch(joint_orn) inv_joint_pos, inv_joint_orn = cb.T.mat2pose(cb.T.pose_inv(cb.T.pose2mat((joint_pos, joint_orn)))) - relative_pos, relative_orn = cb.T.pose_transform(inv_joint_pos, inv_joint_orn, cb.from_torch(position), cb.from_torch(orientation)) + relative_pos, relative_orn = cb.T.pose_transform( + inv_joint_pos, inv_joint_orn, cb.from_torch(position), cb.from_torch(orientation) + ) relative_rpy = cb.T.quat2euler(relative_orn) self.joints["base_footprint_x_joint"].set_pos(relative_pos[0], drive=False) self.joints["base_footprint_y_joint"].set_pos(relative_pos[1], drive=False) @@ -321,7 +323,9 @@ def _postprocess_control(self, control, control_type): global_pose = cur_pose @ local_pose lin_vel_global, ang_vel_global = global_pose[0, :3, 3], global_pose[1, :3, 3] - u_vec[cb.from_torch(self.base_control_idx)] = cb.array([lin_vel_global[0], lin_vel_global[1], ang_vel_global[2]]) + u_vec[cb.from_torch(self.base_control_idx)] = cb.array( + [lin_vel_global[0], lin_vel_global[1], ang_vel_global[2]] + ) return u_vec, u_type_vec diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py index 8fa160208..7f5cec354 100644 --- a/omnigibson/robots/manipulation_robot.py +++ b/omnigibson/robots/manipulation_robot.py @@ -1,8 +1,8 @@ import math import os from abc import abstractmethod -from functools import cached_property from collections import namedtuple +from functools import cached_property from typing import Literal import networkx as nx @@ -10,7 +10,6 @@ import omnigibson as og import omnigibson.lazy as lazy -from omnigibson.utils.backend_utils import _compute_backend as cb import omnigibson.utils.transform_utils as T from omnigibson.controllers import ( ControlType, @@ -24,6 +23,7 @@ from omnigibson.macros import create_module_macros, gm from omnigibson.object_states import ContactBodies from omnigibson.robots.robot_base import BaseRobot +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.utils.constants import JointType, PrimType from omnigibson.utils.geometry_utils import generate_points_in_volume_checker_function from omnigibson.utils.python_utils import assert_valid_key, classproperty diff --git a/omnigibson/robots/tiago.py b/omnigibson/robots/tiago.py index 3b4ec586f..2cfa8876a 100644 --- a/omnigibson/robots/tiago.py +++ b/omnigibson/robots/tiago.py @@ -1,7 +1,7 @@ import math import os -from typing import Literal from functools import cached_property +from typing import Literal import torch as th diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py index 183cb5926..165f22c96 100644 --- a/omnigibson/simulator.py +++ b/omnigibson/simulator.py @@ -242,10 +242,9 @@ def _launch_app(): # Set compute backend import omnigibson.utils.backend_utils as _backend_utils + _backend_utils._compute_backend.set_methods( - _backend_utils._ComputeNumpyBackend - if gm.USE_NUMPY_CONTROLLER_BACKEND - else _backend_utils._ComputeTorchBackend + _backend_utils._ComputeNumpyBackend if gm.USE_NUMPY_CONTROLLER_BACKEND else _backend_utils._ComputeTorchBackend ) return app diff --git a/omnigibson/utils/backend_utils.py b/omnigibson/utils/backend_utils.py index ad93563fe..879d2771d 100644 --- a/omnigibson/utils/backend_utils.py +++ b/omnigibson/utils/backend_utils.py @@ -1,5 +1,6 @@ -import torch as th import numpy as np +import torch as th + import omnigibson.utils.transform_utils as TT import omnigibson.utils.transform_utils_np as NT from omnigibson.utils.python_utils import recursively_convert_from_torch diff --git a/omnigibson/utils/processing_utils.py b/omnigibson/utils/processing_utils.py index 6d6045626..0aa341c1d 100644 --- a/omnigibson/utils/processing_utils.py +++ b/omnigibson/utils/processing_utils.py @@ -1,7 +1,7 @@ import torch as th -from omnigibson.utils.python_utils import Serializable from omnigibson.utils.backend_utils import _compute_backend as cb +from omnigibson.utils.python_utils import Serializable class Filter(Serializable): diff --git a/omnigibson/utils/python_utils.py b/omnigibson/utils/python_utils.py index f9c4c8a8a..9f1e96bbe 100644 --- a/omnigibson/utils/python_utils.py +++ b/omnigibson/utils/python_utils.py @@ -786,6 +786,7 @@ def recursively_convert_to_torch(state): def recursively_convert_from_torch(state): # For all the lists in state dict, convert from torch tensor -> numpy array import numpy as np + for key, value in state.items(): if isinstance(value, dict): state[key] = recursively_convert_from_torch(value) diff --git a/omnigibson/utils/transform_utils.py b/omnigibson/utils/transform_utils.py index be82d8025..c2301bb61 100644 --- a/omnigibson/utils/transform_utils.py +++ b/omnigibson/utils/transform_utils.py @@ -1402,4 +1402,3 @@ def orientation_error(desired, current): error = 0.5 * (torch.linalg.cross(rc1, rd1) + torch.linalg.cross(rc2, rd2) + torch.linalg.cross(rc3, rd3)) return error.reshape(desired.shape[:-2] + (3,)) - diff --git a/omnigibson/utils/usd_utils.py b/omnigibson/utils/usd_utils.py index b02af97ba..04e7fc651 100644 --- a/omnigibson/utils/usd_utils.py +++ b/omnigibson/utils/usd_utils.py @@ -6,16 +6,16 @@ from collections.abc import Iterable import numpy as np -from numba import jit, prange import torch as th import trimesh +from numba import jit, prange import omnigibson as og import omnigibson.lazy as lazy -from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeTorchBackend, _ComputeNumpyBackend -from omnigibson.utils.backend_utils import _compute_backend as cb import omnigibson.utils.transform_utils as T from omnigibson.macros import gm +from omnigibson.utils.backend_utils import _compute_backend as cb +from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeNumpyBackend, _ComputeTorchBackend from omnigibson.utils.constants import PRIMITIVE_MESH_TYPES, JointType, PrimType from omnigibson.utils.numpy_utils import vtarray_to_torch from omnigibson.utils.python_utils import assert_valid_key @@ -1092,7 +1092,9 @@ def get_generalized_gravity_forces(self, prim_path): def get_coriolis_and_centrifugal_forces(self, prim_path): if "coriolis_and_centrifugal_forces" not in self._read_cache: - self._read_cache["coriolis_and_centrifugal_forces"] = cb.from_torch(self._view.get_coriolis_and_centrifugal_forces()) + self._read_cache["coriolis_and_centrifugal_forces"] = cb.from_torch( + self._view.get_coriolis_and_centrifugal_forces() + ) idx = self._idx[prim_path] return self._read_cache["coriolis_and_centrifugal_forces"][idx] @@ -1875,12 +1877,14 @@ def delete_or_deactivate_prim(prim_path): import omnigibson.utils.transform_utils as TT + + @th.compile def _compute_relative_poses_torch( - idx: int, - n_links: int, - all_tfs: th.Tensor, - base_pose: th.Tensor, + idx: int, + n_links: int, + all_tfs: th.Tensor, + base_pose: th.Tensor, ): tfs = th.zeros((n_links, 4, 4), dtype=th.float32) # base vel is the final -1 index @@ -1903,6 +1907,8 @@ def _compute_relative_poses_torch( import omnigibson.utils.transform_utils_np as NT + + @jit(nopython=True) def _compute_relative_poses_numpy(idx, n_links, all_tfs, base_pose): tfs = np.zeros((n_links, 4, 4), dtype=np.float32) @@ -1933,4 +1939,3 @@ def _compute_relative_poses_numpy(idx, n_links, all_tfs, base_pose): setattr(_ComputeBackend, "compute_relative_poses", None) setattr(_ComputeTorchBackend, "compute_relative_poses", _compute_relative_poses_torch) setattr(_ComputeNumpyBackend, "compute_relative_poses", _compute_relative_poses_numpy) - diff --git a/tests/test_controllers.py b/tests/test_controllers.py index 5b2fda7ff..a25c9d1ba 100644 --- a/tests/test_controllers.py +++ b/tests/test_controllers.py @@ -4,8 +4,8 @@ import omnigibson as og import omnigibson.utils.transform_utils as T -from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.robots import LocomotionRobot +from omnigibson.utils.backend_utils import _compute_backend as cb def test_arm_control(): From 5121aa587a1cccf2919858a7ca3fbb78c9b4a7e7 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 11 Dec 2024 19:08:26 -0800 Subject: [PATCH 40/55] ensure actions and control dict is handled properly externally --- .../starter_semantic_action_primitives.py | 7 ++++--- omnigibson/controllers/controller_base.py | 2 +- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/omnigibson/action_primitives/starter_semantic_action_primitives.py b/omnigibson/action_primitives/starter_semantic_action_primitives.py index d9c5e9ef5..898769da6 100644 --- a/omnigibson/action_primitives/starter_semantic_action_primitives.py +++ b/omnigibson/action_primitives/starter_semantic_action_primitives.py @@ -36,6 +36,7 @@ from omnigibson.robots.locomotion_robot import LocomotionRobot from omnigibson.robots.manipulation_robot import ManipulationRobot from omnigibson.tasks.behavior_task import BehaviorTask +from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.utils.control_utils import FKSolver, IKSolver from omnigibson.utils.grasping_planning_utils import get_grasp_poses_for_object_sticky, get_grasp_position_for_open from omnigibson.utils.motion_planning_utils import ( @@ -336,13 +337,13 @@ def __init__( arm = f"arm_{arm_name}" arm_ctrl = self.robot.controllers[arm] if isinstance(arm_ctrl, InverseKinematicsController): - pos_relative = control_dict[f"{eef}_pos_relative"] - quat_relative = control_dict[f"{eef}_quat_relative"] + pos_relative = cb.to_torch(control_dict[f"{eef}_pos_relative"]) + quat_relative = cb.to_torch(control_dict[f"{eef}_quat_relative"]) quat_relative_axis_angle = T.quat2axisangle(quat_relative) self._arm_targets[arm] = (pos_relative, quat_relative_axis_angle) else: - arm_target = control_dict["joint_position"][arm_ctrl.dof_idx] + arm_target = cb.to_torch(control_dict["joint_position"])[arm_ctrl.dof_idx] self._arm_targets[arm] = arm_target self.robot_copy = self._load_robot_copy() diff --git a/omnigibson/controllers/controller_base.py b/omnigibson/controllers/controller_base.py index 07157bad0..d285a033a 100644 --- a/omnigibson/controllers/controller_base.py +++ b/omnigibson/controllers/controller_base.py @@ -367,7 +367,7 @@ def compute_no_op_action(self, control_dict): if self._goal is None: self._goal = self.compute_no_op_goal(control_dict=control_dict) command = self._compute_no_op_action(control_dict=control_dict) - return self._reverse_preprocess_command(command) + return cb.to_torch(self._reverse_preprocess_command(command)) def _compute_no_op_action(self, control_dict): """ From 8d6f25f57c410d9c679a6a408f875bc8deb3fa1a Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Wed, 11 Dec 2024 19:36:42 -0800 Subject: [PATCH 41/55] fix control torch reference --- omnigibson/robots/manipulation_robot.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py index 7f5cec354..b92853df7 100644 --- a/omnigibson/robots/manipulation_robot.py +++ b/omnigibson/robots/manipulation_robot.py @@ -1315,23 +1315,24 @@ def _handle_assisted_grasping(self): # a zero action will actually keep the AG setting where it already is. controller = self._controllers[f"gripper_{arm}"] controlled_joints = controller.dof_idx + control = cb.to_torch(controller.control) threshold = th.mean( th.stack([self.joint_lower_limits[controlled_joints], self.joint_upper_limits[controlled_joints]]), dim=0, ) - if controller.control is None: + if control is None: applying_grasp = False elif self._grasping_direction == "lower": applying_grasp = ( - th.any(controller.control < threshold) + th.any(control < threshold) if controller.control_type == ControlType.POSITION - else th.any(controller.control < 0) + else th.any(control < 0) ) else: applying_grasp = ( - th.any(controller.control > threshold) + th.any(control > threshold) if controller.control_type == ControlType.POSITION - else th.any(controller.control > 0) + else th.any(control > 0) ) # Execute gradual release of object if self._ag_obj_in_hand[arm]: From 62d08b9b57f5515a17223e9f1ad0333b9eea17fd Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Thu, 12 Dec 2024 11:01:39 -0800 Subject: [PATCH 42/55] use compute backend for filter product --- omnigibson/utils/processing_utils.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/omnigibson/utils/processing_utils.py b/omnigibson/utils/processing_utils.py index c47621317..bd81ceba8 100644 --- a/omnigibson/utils/processing_utils.py +++ b/omnigibson/utils/processing_utils.py @@ -109,7 +109,7 @@ def reset(self): @property def state_size(self): # This is the size of the internal buffer plus the current index and fully filled single values - return th.prod(self.past_samples.shape) + 2 + return cb.prod(self.past_samples.shape) + 2 def _dump_state(self): # Run super init first From 5d672a6a9d3682b421fd3d603a92667b85c06b02 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Thu, 12 Dec 2024 12:05:14 -0800 Subject: [PATCH 43/55] use 0-dim command for null joint controller --- omnigibson/controllers/null_joint_controller.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/omnigibson/controllers/null_joint_controller.py b/omnigibson/controllers/null_joint_controller.py index 42bfd47d6..e4afe1f29 100644 --- a/omnigibson/controllers/null_joint_controller.py +++ b/omnigibson/controllers/null_joint_controller.py @@ -95,3 +95,12 @@ def update_default_goal(self, target): ), f"Default control must be length: {self.control_dim}, got length: {len(target)}" self._default_command = cb.array(target) + + def _compute_no_op_action(self, control_dict): + # Empty tensor since no action should be received + return cb.array([]) + + @property + def command_dim(self): + # Auto-generates control, so no command should be received + return 0 From deccf82fc1f3dec0a7c6a4e598f0eb1d16e61626 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Thu, 12 Dec 2024 13:35:06 -0800 Subject: [PATCH 44/55] Add view angle limits to VR --- .../teleoperation/vr_robot_control_demo.py | 6 +-- omnigibson/utils/teleop_utils.py | 43 +++++++++++++++++-- 2 files changed, 41 insertions(+), 8 deletions(-) diff --git a/omnigibson/examples/teleoperation/vr_robot_control_demo.py b/omnigibson/examples/teleoperation/vr_robot_control_demo.py index d4a544d77..509720abe 100644 --- a/omnigibson/examples/teleoperation/vr_robot_control_demo.py +++ b/omnigibson/examples/teleoperation/vr_robot_control_demo.py @@ -30,16 +30,12 @@ def main(): "arm_left": { "name": "InverseKinematicsController", "mode": "absolute_pose", - "pos_kp": 5.0, - "vel_kp": 0.0, "command_input_limits": None, "command_output_limits": None, }, "arm_right": { "name": "InverseKinematicsController", "mode": "absolute_pose", - "pos_kp": 5.0, - "vel_kp": 0.0, "command_input_limits": None, "command_output_limits": None, }, @@ -88,6 +84,8 @@ def main(): system="SteamVR", eef_tracking_mode="controller", align_anchor_to="camera", + # roll, pitch, yaw + view_angle_limits=[180, 30, 30], ) vrsys.start() diff --git a/omnigibson/utils/teleop_utils.py b/omnigibson/utils/teleop_utils.py index 16b96b5df..a5fdffa8a 100644 --- a/omnigibson/utils/teleop_utils.py +++ b/omnigibson/utils/teleop_utils.py @@ -10,11 +10,13 @@ import omnigibson.utils.transform_utils as T from omnigibson.macros import create_module_macros from omnigibson.objects import USDObject +from omnigibson.prims.geom_prim import VisualGeomPrim from omnigibson.prims.xform_prim import XFormPrim from omnigibson.robots.robot_base import BaseRobot from omnigibson.sensors import VisionSensor from omnigibson.utils.control_utils import IKSolver from omnigibson.utils.ui_utils import KeyboardEventHandler, create_module_logger +from omnigibson.utils.usd_utils import scene_relative_prim_path_to_absolute try: from telemoma.configs.base_config import teleop_config @@ -148,7 +150,9 @@ def __init__( system: str = "SteamVR", disable_display_output: bool = False, eef_tracking_mode: Literal["controller", "hand", "disabled"] = "controller", + # TODO: fix this to only take something like a prim path align_anchor_to: Literal["camera", "base", "touchpad"] = "camera", + view_angle_limits: Optional[Iterable[float]] = None, ) -> None: """ Initializes the VR system @@ -160,6 +164,7 @@ def __init__( eef_tracking_mode (Literal): whether to use controller tracking or hand tracking, one of ["controller", "hand", "disabled"], default is controller. align_anchor_to (Literal): specify where the VR view aligns to, one of ["camera", "base", "touchpad"], defaults to robot camera. The "touchpad" option enables free movement of the VR view (i.e. the user), while the other two constrain the VR view to the either the robot base or camera pose. + view_angle_limits (Iterable): the view angle limits for the VR system (roll, pitch, and yaw) in degrees, default is None. """ align_to_prim = isinstance(align_anchor_to, XFormPrim) assert ( @@ -178,7 +183,6 @@ def __init__( self.raw_data = {} # enable xr extension lazy.omni.isaac.core.utils.extensions.enable_extension("omni.kit.xr.profile.vr") - self.xr_device_class = lazy.omni.kit.xr.core.XRDeviceClass # run super method super().__init__(teleop_config, robot, show_control_marker) # get xr core and profile @@ -250,6 +254,24 @@ def __init__( self._update_camera_callback = self.xr_core.get_event_stream().create_subscription_to_pop_by_type( lazy.omni.kit.xr.core.XRCoreEventType.pre_render_update, self._update_camera_pose, name="update camera" ) + self._view_blackout_prim = None + self._view_angle_limits = ( + [T.deg2rad(limit) for limit in view_angle_limits] if view_angle_limits is not None else None + ) + if self._view_angle_limits is not None: + scene = self.robot.scene + blackout_relative_path = "/view_blackout" + blackout_prim_path = scene_relative_prim_path_to_absolute(scene, blackout_relative_path) + blackout_sphere = lazy.pxr.UsdGeom.Sphere.Define(og.sim.stage, blackout_prim_path) + blackout_sphere.CreateRadiusAttr().Set(0.1) + blackout_sphere.CreateDisplayColorAttr().Set(lazy.pxr.Vt.Vec3fArray([255, 255, 255])) + self._view_blackout_prim = VisualGeomPrim( + relative_prim_path=blackout_relative_path, + name="view_blackout", + ) + self._view_blackout_prim.load(scene) + self._view_blackout_prim.initialize() + self._view_blackout_prim.visible = False def _update_camera_pose(self, e) -> None: if self.align_anchor_to == "touchpad": @@ -277,6 +299,19 @@ def _update_camera_pose(self, e) -> None: ) anchor_orn = T.quat_multiply(anchor_orn, relative_orientation) + if self._view_blackout_prim is not None: + relative_ori_in_euler = T.quat2euler(relative_orientation) + roll_limit, pitch_limit, yaw_limit = self._view_angle_limits + # OVXR has a different coordinate system than OmniGibson + if ( + abs(relative_ori_in_euler[0]) > pitch_limit + or abs(relative_ori_in_euler[1]) > yaw_limit + or abs(relative_ori_in_euler[2]) > roll_limit + ): + self._view_blackout_prim.set_position_orientation(anchor_pos, anchor_orn) + self._view_blackout_prim.visible = True + else: + self._view_blackout_prim.visible = False anchor_pose = self.og2xr(anchor_pos, anchor_orn) self.vr_profile.set_physical_world_to_world_anchor_transform_to_match_xr_device( anchor_pose.numpy(), self.hmd @@ -548,14 +583,14 @@ def _update_devices(self) -> None: """ for device in self.vr_profile.get_device_list(): device_class = device.get_class() - if device_class == self.xr_device_class.xrdisplaydevice: + if device_class == lazy.omni.kit.xr.core.XRDeviceClass.xrdisplaydevice: self.hmd = device - elif device_class == self.xr_device_class.xrcontroller: + elif device_class == lazy.omni.kit.xr.core.XRDeviceClass.xrcontroller: # we want the first 2 controllers to be corresponding to the left and right hand d_idx = device.get_index() controller_name = ["left", "right"][d_idx] if d_idx < 2 else f"controller_{d_idx+1}" self.controllers[controller_name] = device - elif device_class == self.xr_device_class.xrtracker: + elif device_class == lazy.omni.kit.xr.core.XRDeviceClass.xrtracker: self.trackers[device.get_index()] = device def _update_device_transforms(self) -> None: From 0fca8d69aeefa919c37b2e53052caa71569944f0 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Thu, 12 Dec 2024 13:54:20 -0800 Subject: [PATCH 45/55] improve curobo test determinism --- tests/test_curobo.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tests/test_curobo.py b/tests/test_curobo.py index 4161a1e8a..b5b0ef606 100644 --- a/tests/test_curobo.py +++ b/tests/test_curobo.py @@ -361,6 +361,10 @@ def test_curobo(): print(f"Planning for {len(target_pos[robot.eef_link_names[robot.default_arm]])} eef targets...") + # Make sure robot is kept still for better determinism before planning + robot.keep_still() + og.sim.step_physics() + # Generate collision-free trajectories to the sampled eef poses (including self-collisions) successes, traj_paths = cmg.compute_trajectories( target_pos=target_pos, From c83772d5c79bbba3626dd39c521a83efc6733f5b Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Thu, 12 Dec 2024 14:22:18 -0800 Subject: [PATCH 46/55] make collision activation settable for better reproducability in curobo unit test --- omnigibson/action_primitives/curobo.py | 6 +++++- tests/test_curobo.py | 1 + 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/omnigibson/action_primitives/curobo.py b/omnigibson/action_primitives/curobo.py index c203bd17d..3450c98a4 100644 --- a/omnigibson/action_primitives/curobo.py +++ b/omnigibson/action_primitives/curobo.py @@ -150,6 +150,7 @@ def __init__( motion_cfg_kwargs=None, batch_size=2, use_cuda_graph=True, + collision_activation_distance=0.005, debug=False, use_default_embodiment_only=False, ): @@ -165,6 +166,9 @@ def __init__( MotionGenConfig.load_from_robot_config(...) batch_size (int): Size of batches for computing trajectories. This must be FIXED use_cuda_graph (bool): Whether to use CUDA graph for motion generation or not + collision_activation_distance (float): Distance threshold at which a collision is detected. + Increasing this value will make the motion planner more conservative in its planning with respect + to the underlying sphere representation of the robot debug (bool): Whether to debug generation or not, setting this True will set use_cuda_graph to False implicitly use_default_embodiment_only (bool): Whether to use only the default embodiment for the robot or not """ @@ -227,7 +231,7 @@ def __init__( num_trajopt_seeds=4, num_graph_seeds=4, interpolation_dt=0.03, - collision_activation_distance=0.005, + collision_activation_distance=collision_activation_distance, self_collision_check=True, maximum_trajectory_dt=None, fixed_iters_trajopt=True, diff --git a/tests/test_curobo.py b/tests/test_curobo.py index b5b0ef606..e20f77505 100644 --- a/tests/test_curobo.py +++ b/tests/test_curobo.py @@ -236,6 +236,7 @@ def test_curobo(): batch_size=batch_size, debug=False, use_cuda_graph=True, + collision_activation_distance=0.01, # Use larger activation distance for better reproducibility use_default_embodiment_only=True, ) From 11b9876c28328aa67a49b691a78476e3368e23ad Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 12 Dec 2024 22:22:44 +0000 Subject: [PATCH 47/55] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- tests/test_curobo.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/test_curobo.py b/tests/test_curobo.py index e20f77505..caf230df4 100644 --- a/tests/test_curobo.py +++ b/tests/test_curobo.py @@ -236,7 +236,7 @@ def test_curobo(): batch_size=batch_size, debug=False, use_cuda_graph=True, - collision_activation_distance=0.01, # Use larger activation distance for better reproducibility + collision_activation_distance=0.01, # Use larger activation distance for better reproducibility use_default_embodiment_only=True, ) From b60600179a8f8add37a3aa8e76ad50fcd70f6212 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Thu, 12 Dec 2024 15:30:18 -0800 Subject: [PATCH 48/55] fix IK controller arg parsing --- omnigibson/controllers/ik_controller.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/omnigibson/controllers/ik_controller.py b/omnigibson/controllers/ik_controller.py index 1983f846c..1059fa082 100644 --- a/omnigibson/controllers/ik_controller.py +++ b/omnigibson/controllers/ik_controller.py @@ -152,7 +152,10 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D command_input_limits[1][3:] = cb.array([math.pi] * len(command_input_limits[1][3:])) if command_output_limits is not None: if not isinstance(command_output_limits, str) and isinstance(command_output_limits, Iterable): - command_output_limits = cb.array(command_output_limits) + command_output_limits = [ + cb.array(command_output_limits[0]), + cb.array(command_output_limits[1]), + ] if type(command_output_limits) == str and command_output_limits == "default": command_output_limits = [ cb.array([-1.0, -1.0, -1.0, -math.pi, -math.pi, -math.pi]), From 474aa0dd5b4f8fe35294e5ff5b10f1ce386bd9b6 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Thu, 12 Dec 2024 15:33:13 -0800 Subject: [PATCH 49/55] update comments external -> custom dataset --- omnigibson/examples/objects/import_custom_object.py | 4 ++-- omnigibson/utils/asset_conversion_utils.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/omnigibson/examples/objects/import_custom_object.py b/omnigibson/examples/objects/import_custom_object.py index 688b95d29..959d80281 100644 --- a/omnigibson/examples/objects/import_custom_object.py +++ b/omnigibson/examples/objects/import_custom_object.py @@ -61,8 +61,8 @@ def import_custom_object( overwrite: bool, ): """ - Imports an externally-defined object asset into an OmniGibson-compatible USD format and saves the imported asset - files to the external dataset directory (gm.CUSTOM_DATASET_PATH) + Imports a custom-defined object asset into an OmniGibson-compatible USD format and saves the imported asset + files to the custom 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 diff --git a/omnigibson/utils/asset_conversion_utils.py b/omnigibson/utils/asset_conversion_utils.py index 85a5bc2ef..dac1fb5f6 100644 --- a/omnigibson/utils/asset_conversion_utils.py +++ b/omnigibson/utils/asset_conversion_utils.py @@ -2308,7 +2308,7 @@ def import_og_asset_from_urdf( decomposition applied. This will only use the convex hull visual_only_links (None or list of str): If specified, links that should have no colliders associated with it merge_fixed_joints (bool): Whether to merge fixed joints or not - dataset_root (str): Dataset root directory to use for writing imported USD file. Default is external dataset + dataset_root (str): Dataset root directory to use for writing imported USD file. Default is custom dataset path set from the global macros hull_count (int): Maximum number of convex hulls to decompose individual visual meshes into. Only relevant if @collision_method is "coacd" From 04c37c5faad69b311522e0c51cf447baa522b432 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Thu, 12 Dec 2024 15:48:31 -0800 Subject: [PATCH 50/55] update version and remove extraneous np import --- omnigibson/utils/config_utils.py | 1 - setup.py | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/omnigibson/utils/config_utils.py b/omnigibson/utils/config_utils.py index 82f9b1e91..dd467c382 100644 --- a/omnigibson/utils/config_utils.py +++ b/omnigibson/utils/config_utils.py @@ -2,7 +2,6 @@ import json import os -import numpy as np import torch as th import yaml diff --git a/setup.py b/setup.py index fee68fb0e..56564cb50 100644 --- a/setup.py +++ b/setup.py @@ -49,7 +49,7 @@ "matplotlib>=3.0.0", "lxml>=5.3.0", "numba>=0.60.0", - "cffi~=1.16.0", + "cffi>=1.16.0", "pillow~=10.2.0", ], extras_require={ From e31c12a14f71c091d2280de12b9251112b2eeb20 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Fri, 13 Dec 2024 10:47:01 -0800 Subject: [PATCH 51/55] make urdf paths relative during custom asset import --- omnigibson/utils/asset_conversion_utils.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/omnigibson/utils/asset_conversion_utils.py b/omnigibson/utils/asset_conversion_utils.py index dac1fb5f6..ed49e3130 100644 --- a/omnigibson/utils/asset_conversion_utils.py +++ b/omnigibson/utils/asset_conversion_utils.py @@ -1914,6 +1914,7 @@ def get_collision_approximation_for_urdf( during collision generation process """ # Load URDF + urdf_dir = os.path.dirname(urdf_path) tree = ET.parse(urdf_path) root = tree.getroot() @@ -1923,7 +1924,8 @@ def get_collision_approximation_for_urdf( no_decompose_links = set() if no_decompose_links is None else set(no_decompose_links) visual_only_links = set() if visual_only_links is None else set(visual_only_links) ignore_links = set() if ignore_links is None else set(ignore_links) - col_mesh_folder = pathlib.Path(os.path.dirname(urdf_path)) / "meshes" / "collision" + col_mesh_rel_folder = "meshes/collision" + col_mesh_folder = pathlib.Path(urdf_dir) / col_mesh_rel_folder col_mesh_folder.mkdir(exist_ok=True, parents=True) for link in root.findall("link"): link_name = link.attrib["name"] @@ -1996,7 +1998,7 @@ def get_collision_approximation_for_urdf( collision_geometry_xml = ET.SubElement(collision_xml, "geometry") collision_mesh_xml = ET.SubElement(collision_geometry_xml, "mesh") collision_mesh_xml.attrib = { - "filename": str(col_mesh_folder / collision_filename), + "filename": os.path.join(col_mesh_rel_folder, collision_filename), "scale": " ".join([str(item) for item in collision_scale]), } From 6275ab9087d7201ad336d739e67206749b6e414b Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Fri, 13 Dec 2024 11:34:20 -0800 Subject: [PATCH 52/55] handle vision sensor cleanup properly --- omnigibson/sensors/vision_sensor.py | 21 ++++++++++++++++----- 1 file changed, 16 insertions(+), 5 deletions(-) diff --git a/omnigibson/sensors/vision_sensor.py b/omnigibson/sensors/vision_sensor.py index 1ebdc2729..e4902b68b 100644 --- a/omnigibson/sensors/vision_sensor.py +++ b/omnigibson/sensors/vision_sensor.py @@ -575,16 +575,28 @@ def _remove_modality_from_backend(self, modality): modality (str): Name of the modality to remove from the Replicator backend """ if self._annotators.get(modality, None) is not None: - self._annotators[modality].detach([self._render_product]) + # Passing an explicit list is bugged -- see omni source code + # So we only pass in the product directly, which gets post-processed correctly + self._annotators[modality].detach(self._render_product) self._annotators[modality] = None def remove(self): # Remove from global sensors dictionary self.SENSORS.pop(self.prim_path) + # Remove all modalities + for modality in tuple(self.modalities): + self.remove_modality(modality) + + # Destroy the render product + self._render_product.destroy() + # Remove the viewport if it's not the main viewport if self._viewport.name != "Viewport": self._viewport.destroy() + else: + # We're deleting our camera, so set the normal viewport camera to the default /Perspective camera + self.active_camera_path = "/OmniverseKit_Persp" # Run super super().remove() @@ -882,10 +894,9 @@ def clear(cls): """ Clear all the class-wide variables. """ - for sensor in cls.SENSORS.values(): - # Destroy any sensor that is not attached to the main viewport window - if sensor._viewport.name != "Viewport": - sensor._viewport.destroy() + # Remove all sensors + for sensor in tuple(cls.SENSORS.values()): + sensor.remove() # Render to update render() From 42e1d9d4a5c37bcf3ec155b29de0aee06300c040 Mon Sep 17 00:00:00 2001 From: cremebrule <84cremebrule@gmail.com> Date: Fri, 13 Dec 2024 16:48:48 -0800 Subject: [PATCH 53/55] fix default command output behavior for joint controllers --- omnigibson/controllers/joint_controller.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/omnigibson/controllers/joint_controller.py b/omnigibson/controllers/joint_controller.py index 39dcb9a65..9dcb7ea33 100644 --- a/omnigibson/controllers/joint_controller.py +++ b/omnigibson/controllers/joint_controller.py @@ -139,6 +139,14 @@ def __init__( command_output_limits=command_output_limits, ) + def _generate_default_command_output_limits(self): + # Use motor type instead of default control type, since, e.g, use_impedances is commanding joint positions + # but controls low-level efforts + return ( + self._control_limits[ControlType.get_type(self._motor_type)][0][self.dof_idx], + self._control_limits[ControlType.get_type(self._motor_type)][1][self.dof_idx], + ) + def _update_goal(self, command, control_dict): # If we're using delta commands, add this value if self._use_delta_commands: From f4554210c8ca9e102aac5882f04b47797a1638ee Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 17 Dec 2024 02:02:24 +0000 Subject: [PATCH 54/55] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- omnigibson/controllers/null_joint_controller.py | 2 +- omnigibson/robots/articulated_trunk_robot.py | 3 ++- omnigibson/robots/behavior_robot.py | 2 +- omnigibson/utils/python_utils.py | 1 + 4 files changed, 5 insertions(+), 3 deletions(-) diff --git a/omnigibson/controllers/null_joint_controller.py b/omnigibson/controllers/null_joint_controller.py index eea678a0a..9cc192cd3 100644 --- a/omnigibson/controllers/null_joint_controller.py +++ b/omnigibson/controllers/null_joint_controller.py @@ -1,5 +1,5 @@ -from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.controllers import JointController +from omnigibson.controllers.controller_base import _controller_backend as cb class NullJointController(JointController): diff --git a/omnigibson/robots/articulated_trunk_robot.py b/omnigibson/robots/articulated_trunk_robot.py index d4906c65f..a182a8762 100644 --- a/omnigibson/robots/articulated_trunk_robot.py +++ b/omnigibson/robots/articulated_trunk_robot.py @@ -1,6 +1,7 @@ -import torch as th from functools import cached_property +import torch as th + from omnigibson.robots.manipulation_robot import ManipulationRobot from omnigibson.utils.python_utils import classproperty from omnigibson.utils.usd_utils import ControllableObjectViewAPI diff --git a/omnigibson/robots/behavior_robot.py b/omnigibson/robots/behavior_robot.py index 7d3693412..b1eebd3de 100644 --- a/omnigibson/robots/behavior_robot.py +++ b/omnigibson/robots/behavior_robot.py @@ -1,9 +1,9 @@ import itertools -from functools import cached_property import math import os from abc import ABC from collections import OrderedDict +from functools import cached_property from typing import Iterable, List, Literal, Tuple import torch as th diff --git a/omnigibson/utils/python_utils.py b/omnigibson/utils/python_utils.py index f9c4c8a8a..9f1e96bbe 100644 --- a/omnigibson/utils/python_utils.py +++ b/omnigibson/utils/python_utils.py @@ -786,6 +786,7 @@ def recursively_convert_to_torch(state): def recursively_convert_from_torch(state): # For all the lists in state dict, convert from torch tensor -> numpy array import numpy as np + for key, value in state.items(): if isinstance(value, dict): state[key] = recursively_convert_from_torch(value) From 1c57085fd8c4e77ad305c21eae216a51bb8d832a Mon Sep 17 00:00:00 2001 From: hang-yin Date: Wed, 18 Dec 2024 15:46:11 -0800 Subject: [PATCH 55/55] Tiny bug fixes --- omnigibson/controllers/ik_controller.py | 2 -- omnigibson/controllers/joint_controller.py | 2 -- omnigibson/controllers/multi_finger_gripper_controller.py | 1 - omnigibson/utils/usd_utils.py | 2 -- 4 files changed, 7 deletions(-) diff --git a/omnigibson/controllers/ik_controller.py b/omnigibson/controllers/ik_controller.py index 93b436f9b..1059fa082 100644 --- a/omnigibson/controllers/ik_controller.py +++ b/omnigibson/controllers/ik_controller.py @@ -2,8 +2,6 @@ from collections.abc import Iterable from omnigibson.controllers import ControlType, ManipulationController -from omnigibson.controllers.controller_base import _controller_backend as cb -from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerNumpyBackend, _ControllerTorchBackend from omnigibson.controllers.joint_controller import JointController from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeNumpyBackend, _ComputeTorchBackend diff --git a/omnigibson/controllers/joint_controller.py b/omnigibson/controllers/joint_controller.py index d66cc575b..9dcb7ea33 100644 --- a/omnigibson/controllers/joint_controller.py +++ b/omnigibson/controllers/joint_controller.py @@ -7,8 +7,6 @@ LocomotionController, ManipulationController, ) -from omnigibson.controllers.controller_base import _controller_backend as cb -from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerNumpyBackend, _ControllerTorchBackend from omnigibson.macros import create_module_macros from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeNumpyBackend, _ComputeTorchBackend diff --git a/omnigibson/controllers/multi_finger_gripper_controller.py b/omnigibson/controllers/multi_finger_gripper_controller.py index 5f7b9a115..ab888f2fe 100644 --- a/omnigibson/controllers/multi_finger_gripper_controller.py +++ b/omnigibson/controllers/multi_finger_gripper_controller.py @@ -1,7 +1,6 @@ import torch as th from omnigibson.controllers import ControlType, GripperController, IsGraspingState -from omnigibson.controllers.controller_base import _controller_backend as cb from omnigibson.macros import create_module_macros from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.utils.processing_utils import MovingAverageFilter diff --git a/omnigibson/utils/usd_utils.py b/omnigibson/utils/usd_utils.py index b6896b467..0b5a1966f 100644 --- a/omnigibson/utils/usd_utils.py +++ b/omnigibson/utils/usd_utils.py @@ -13,8 +13,6 @@ import omnigibson as og import omnigibson.lazy as lazy import omnigibson.utils.transform_utils as T -from omnigibson.controllers.controller_base import _controller_backend as cb -from omnigibson.controllers.controller_base import _ControllerBackend, _ControllerNumpyBackend, _ControllerTorchBackend from omnigibson.macros import gm from omnigibson.utils.backend_utils import _compute_backend as cb from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeNumpyBackend, _ComputeTorchBackend