p04798526
/
OmniGibson
mirror of https://github.com/StanfordVL/OmniGibson.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'og-develop' into eric-release-fixes

This commit is contained in:
Chengshu Li 2024-09-25 10:08:54 -07:00
parent cf6e32cd28 18c26b5d21
commit c4383a8aee
4 changed files with 80 additions and 105 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

173
omnigibson/examples/object_states/particle_applier_remover_demo.py
View File

@ -2,11 +2,9 @@ import torch as th
import omnigibson as og
from omnigibson.macros import gm, macros
from omnigibson.object_states import Covered
from omnigibson.objects import DatasetObject
from omnigibson.object_states import Covered, ToggledOn
from omnigibson.utils.constants import ParticleModifyMethod
from omnigibson.utils.ui_utils import choose_from_options
from omnigibson.utils.usd_utils import create_joint
# Set macros for this example
macros.object_states.particle_modifier.VISUAL_PARTICLES_REMOVAL_LIMIT = 1000
@ -48,58 +46,13 @@ def main(random_selection=False, headless=False, short_exec=False):
name="particle modifier type",
random_selection=random_selection,
)
modification_metalink = {
"particleApplier": "particleapplier_link",
"particleRemover": "particleremover_link",
}
particle_types = ["stain", "water"]
particle_types = ["salt", "water"]
particle_type = choose_from_options(
options={name: f"{name} particles will be applied or removed from the simulator" for name in particle_types},
name="particle type",
random_selection=random_selection,
)
modification_method = {
"Adjacency": ParticleModifyMethod.ADJACENCY,
"Projection": ParticleModifyMethod.PROJECTION,
}
projection_mesh_params = {
"Adjacency": None,
"Projection": {
# Either Cone or Cylinder; shape of the projection where particles can be applied / removed
"type": "Cone",
# Size of the cone
"extents": th.tensor([0.1875, 0.1875, 0.375]),
},
}
method_type = choose_from_options(
options={
"Adjacency": "Close proximity to the object will be used to determine whether particles can be applied / removed",
"Projection": "A Cone or Cylinder shape protruding from the object will be used to determine whether particles can be applied / removed",
},
name="modifier method type",
random_selection=random_selection,
)
# Create the ability kwargs to pass to the object state
abilities = {
modifier_type: {
"method": modification_method[method_type],
"conditions": {
# For a specific particle system, this specifies what conditions are required in order for the
# particle applier / remover to apply / remover particles associated with that system
# The list should contain functions with signature condition() --> bool,
# where True means the condition is satisified
particle_type: [],
},
"projection_mesh_params": projection_mesh_params[method_type],
}
}
table_cfg = dict(
type="DatasetObject",
name="table",
@ -108,13 +61,55 @@ def main(random_selection=False, headless=False, short_exec=False):
bounding_box=[3.402, 1.745, 1.175],
position=[0, 0, 0.98],
)
tool_cfg = dict(
type="DatasetObject",
name="tool",
visual_only=True,
position=[0, 0.3, 5.0],
)
if modifier_type == "particleRemover":
if particle_type == "salt":
# only ask this question if the modifier type is salt particleRemover
method_type = choose_from_options(
options={
"Adjacency": "Close proximity to the object will be used to determine whether particles can be applied / removed",
"Projection": "A Cone or Cylinder shape protruding from the object will be used to determine whether particles can be applied / removed",
},
name="modifier method type",
random_selection=random_selection,
)
else:
# If the particle type is water, the remover is always adjacency type
method_type = "Adjacency"
if method_type == "Adjacency":
# use dishtowel to remove adjacent particles
tool_cfg["category"] = "dishtowel"
tool_cfg["model"] = "dtfspn"
tool_cfg["bounding_box"] = [0.34245, 0.46798, 0.07]
elif method_type == "Projection":
# use vacuum to remove projections particles
tool_cfg["category"] = "vacuum"
tool_cfg["model"] = "wikhik"
else:
# If the modifier type is particleApplier, the applier is always projection type
method_type = "Projection"
if particle_type == "salt":
# use salt shaker to apply salt particles
tool_cfg["category"] = "salt_shaker"
tool_cfg["model"] = "iomwtn"
else:
# use water atomizer to apply water particles
tool_cfg["category"] = "water_atomizer"
tool_cfg["model"] = "lfarai"
# Create the scene config to load -- empty scene with a light and table
cfg = {
"scene": {
"type": "Scene",
},
"objects": [table_cfg],
"objects": [table_cfg, tool_cfg],
}
# Sanity check inputs: Remover + Adjacency + Fluid will not work because we are using a visual_only
@ -124,8 +119,9 @@ def main(random_selection=False, headless=False, short_exec=False):
env = og.Environment(configs=cfg)
og.sim.stop()
# Grab references to table
# Grab references to table and tool
table = env.scene.object_registry("name", "table")
tool = env.scene.object_registry("name", "tool")
# Set the viewer camera appropriately
og.sim.viewer_camera.set_position_orientation(
@ -133,38 +129,6 @@ def main(random_selection=False, headless=False, short_exec=False):
orientation=th.tensor([0.46291845, -0.12381886, -0.22679218, 0.84790371]),
)
# If we're using a projection volume, we manually add in the required metalink required in order to use the volume
modifier = DatasetObject(
name="modifier",
category="dishtowel",
model="dtfspn",
bounding_box=[0.34245, 0.46798, 0.07],
visual_only=method_type
== "Projection", # Non-fluid adjacency requires the object to have collision geoms active
abilities=abilities,
)
# Note: the following is a hacky trick done only for this specific demo that mutates the way the object applies particles;
# the following trick should not be followed ever
modifier._scene = env.scene
modifier._scene_assigned = True
modifier._prim = modifier._load()
modifier_root_link_path = f"{modifier.prim_path}/base_link"
if method_type == "Projection":
metalink_path = f"{modifier.prim_path}/{modification_metalink[modifier_type]}"
og.sim.stage.DefinePrim(metalink_path, "Xform")
create_joint(
prim_path=f"{modifier_root_link_path}/{modification_metalink[modifier_type]}_joint",
body0=modifier_root_link_path,
body1=metalink_path,
joint_type="FixedJoint",
enabled=True,
)
modifier._loaded = True
modifier._post_load()
env.scene.object_registry.add(modifier)
og.sim._post_import_object(modifier)
modifier.set_position(th.tensor([0, 0, 5.0]))
# Play the simulator and take some environment steps to let the objects settle
og.sim.play()
for _ in range(25):
@ -173,29 +137,40 @@ def main(random_selection=False, headless=False, short_exec=False):
# If we're removing particles, set the table's covered state to be True
if modifier_type == "particleRemover":
table.states[Covered].set_value(env.scene.get_system(particle_type), True)
# Take a few steps to let particles settle
for _ in range(25):
env.step(th.empty(0))
# If the particle remover/applier is projection type, set the turn on shaker
if method_type == "Projection":
tool.states[ToggledOn].set_value(True)
# Enable camera teleoperation for convenience
og.sim.enable_viewer_camera_teleoperation()
tool.keep_still()
# Set the modifier object to be in position to modify particles
if method_type == "Projection":
# Higher z to showcase projection volume at work
z = 1.85
elif particle_type == "stain":
# Lower z needed to allow for adjacency bounding box to overlap properly
z = 1.175
if modifier_type == "particleRemover" and method_type == "Projection":
tool.set_position_orientation(
position=[0, 0.3, 1.45],
orientation=[0, 0, 0, 1.0],
)
elif modifier_type == "particleRemover" and method_type == "Adjacency":
tool.set_position_orientation(
position=[0, 0.3, 1.175],
orientation=[0, 0, 0, 1.0],
)
elif modifier_type == "particleApplier" and particle_type == "water":
tool.set_position_orientation(
position=[0, 0.3, 1.4],
orientation=[0.3827, 0, 0, 0.9239],
)
else:
# Higher z needed for actual physical interaction to accommodate non-negligible particle radius
z = 1.22
modifier.keep_still()
modifier.set_position_orientation(
position=th.tensor([0, 0.3, z]),
orientation=th.tensor([0, 0, 0, 1.0]),
)
tool.set_position_orientation(
position=[0, 0.3, 1.5],
orientation=[0.7071, 0, 0.7071, 0],
)
# Move object in square around table
deltas = [
@ -205,8 +180,8 @@ def main(random_selection=False, headless=False, short_exec=False):
[60, th.tensor([0, 0.01, 0])],
]
for t, delta in deltas:
for i in range(t):
modifier.set_position(modifier.get_position() + delta)
for _ in range(t):
tool.set_position_orientation(position=tool.get_position_orientation()[0] + delta)
env.step(th.empty(0))
# Always shut down environment at the end

4
omnigibson/object_states/particle_modifier.py
View File

@ -516,8 +516,8 @@ class ParticleModifier(IntrinsicObjectState, LinkBasedStateMixin, UpdateStateMix
lambda obj: (
th.dot(
T.quat2mat(obj.states[self.__class__].link.get_position_orientation()[1])
@ th.tensor([0, 0, 1]),
th.tensor([0, 0, 1]),
@ th.tensor([0, 0, 1], dtype=th.float32),
th.tensor([0, 0, 1], dtype=th.float32),
)
> 0
)

2
omnigibson/systems/micro_particle_system.py
View File

@ -766,7 +766,7 @@ class MicroPhysicalParticleSystem(MicroParticleSystem, PhysicalParticleSystem):
Omniverse has a bug where all particle positions, orientations, velocities, and scales are correctly reset
when sim is stopped, but not the prototype IDs. This function is a workaround for that.
"""
if self.initialized:
if self.initialized and self.particle_instancers is not None:
for instancer in self.particle_instancers.values():
instancer.particle_prototype_ids = th.zeros(instancer.n_particles, dtype=th.int32)

6
scripts/setup.sh
View File

@ -2,9 +2,9 @@
set -eo &> /dev/null
# Make sure that the ISAAC_SIM_PATH variable is set correctly
if [[ -d ~/.local/share/ov/pkg ]] && [[ $(ls ~/.local/share/ov/pkg | grep isaac_sim) ]];
if [[ -d ~/.local/share/ov/pkg ]] && [[ $(ls ~/.local/share/ov/pkg | grep isaac) ]];
then
FOUND_ISAAC_SIM_PATH=$(ls -d ~/.local/share/ov/pkg/* | grep isaac_sim | tail -n 1)
FOUND_ISAAC_SIM_PATH=$(ls -d ~/.local/share/ov/pkg/* | grep isaac | tail -n 1)
echo "We found Isaac Sim installed at $FOUND_ISAAC_SIM_PATH. OmniGibson will use it by default."
read -p "If you want to use a different one, please type in the path containing isaac-sim.sh here (press enter to skip) >>> " ISAAC_SIM_PATH
ISAAC_SIM_PATH=${ISAAC_SIM_PATH:-$FOUND_ISAAC_SIM_PATH}
@ -14,7 +14,7 @@ else
read -p "If you have already installed it in a custom location, please type in the path containing isaac-sim.sh here >>> " ISAAC_SIM_PATH
fi
while [[ ! -f "${ISAAC_SIM_PATH}/isaac*.sh" ]]; do
while [[ ! -n $(find "${ISAAC_SIM_PATH}" -maxdepth 1 -name "isaac*.sh" 2>/dev/null) ]]; do
read -p "isaac*.sh not found in $ISAAC_SIM_PATH! Make sure you have entered the correct path >>> " ISAAC_SIM_PATH
done
echo -e "\nUsing Isaac Sim at $ISAAC_SIM_PATH\n"