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OmniGibson
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Clean up launch / clear interface and fix some bugs

This commit is contained in:
Cem Gökmen 2024-07-18 12:23:58 -07:00
parent 4004a6871b
commit f736953ec2
5 changed files with 78 additions and 58 deletions
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63
omnigibson/__init__.py
View File

@ -12,7 +12,7 @@ from omnigibson.objects import REGISTERED_OBJECTS
from omnigibson.robots import REGISTERED_ROBOTS
from omnigibson.scenes import REGISTERED_SCENES
from omnigibson.sensors import ALL_SENSOR_MODALITIES
from omnigibson.simulator import launch_simulator as launch
from omnigibson.simulator import _launch_simulator as launch
from omnigibson.tasks import REGISTERED_TASKS
# Create logger
@ -47,56 +47,37 @@ tempdir = tempfile.mkdtemp()
def clear():
"""
Clear the stage and then call launch_simulator again to make og.sim point to a new simulator instance
Clear the stage and then call launch again to make og.sim point to a new simulator instance
"""
global sim
import omnigibson.lazy as lazy
from omnigibson.object_states.update_state_mixin import GlobalUpdateStateMixin
from omnigibson.prims.material_prim import MaterialPrim
from omnigibson.sensors.vision_sensor import VisionSensor
from omnigibson.utils.python_utils import clear as clear_python_utils
from omnigibson.utils.usd_utils import clear as clear_usd_utils
# Stop the physics
sim.stop()
# First save important simulator settings
init_kwargs = dict(
gravity=sim.gravity,
physics_dt=sim.get_physics_dt(),
rendering_dt=sim.get_rendering_dt(),
viewer_width=sim.viewer_width,
viewer_height=sim.viewer_height,
device=sim.device,
)
# Clear all scenes
for scene in sim.scenes:
scene.clear()
# Remove the skybox, floor plane and viewer camera
if sim._skybox is not None:
sim._skybox.remove()
if sim._floor_plane is not None:
sim._floor_plane.remove()
if sim._viewer_camera is not None:
sim._viewer_camera.remove()
if sim._camera_mover is not None:
sim._camera_mover.clear()
# Clear the vision sensor cache
VisionSensor.clear()
# Clear all global update states
for state in sim.object_state_types_requiring_update:
if issubclass(state, GlobalUpdateStateMixin):
state.global_initialize()
# Clear all materials
MaterialPrim.clear()
# Clear uniquely named items and other internal states
clear_python_utils()
clear_usd_utils()
# First let the simulator clear everything it owns.
sim._partial_clear()
# Then close the stage and remove pointers to the simulator object.
assert lazy.omni.isaac.core.utils.stage.close_stage()
sim = None
lazy.omni.isaac.core.simulation_context.SimulationContext.clear_instance()
launch()
# Then relaunch the simulator.
launch(**init_kwargs)
# Check that the device remains the same
assert (
sim.device == init_kwargs["device"]
), f"Device changed from {init_kwargs['device']} to {sim.device} after clear."
def cleanup(*args, **kwargs):

23
omnigibson/envs/env_base.py
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@ -10,7 +10,6 @@ from omnigibson.robots import REGISTERED_ROBOTS
from omnigibson.scene_graphs.graph_builder import SceneGraphBuilder
from omnigibson.scenes import REGISTERED_SCENES
from omnigibson.sensors import VisionSensor, create_sensor
from omnigibson.simulator import launch_simulator
from omnigibson.tasks import REGISTERED_TASKS
from omnigibson.utils.config_utils import parse_config
from omnigibson.utils.gym_utils import (
@ -81,14 +80,22 @@ class Environment(gym.Env, GymObservable, Recreatable):
viewer_height = self.render_config["viewer_height"]
# If the sim is launched, check that the parameters match
if og.sim is not None:
assert og.sim.initial_physics_dt == physics_frequency
assert og.sim.initial_rendering_dt == rendering_frequency
assert og.sim.device == self.device
assert og.sim.viewer_width == viewer_width
assert og.sim.viewer_height == viewer_height
# Otherwise, launch Isaac Sim
assert (
og.sim.initial_physics_dt == physics_frequency
), f"Physics frequency mismatch! Expected {physics_frequency}, got {og.sim.initial_physics_dt}"
assert (
og.sim.initial_rendering_dt == rendering_frequency
), f"Rendering frequency mismatch! Expected {rendering_frequency}, got {og.sim.initial_rendering_dt}"
assert og.sim.device == self.device, f"Device mismatch! Expected {self.device}, got {og.sim.device}"
assert (
og.sim.viewer_width == viewer_width
), f"Viewer width mismatch! Expected {viewer_width}, got {og.sim.viewer_width}"
assert (
og.sim.viewer_height == viewer_height
), f"Viewer height mismatch! Expected {viewer_height}, got {og.sim.viewer_height}"
# Otherwise, launch a simulator instance
else:
launch_simulator(
og.launch(
physics_dt=physics_frequency,
rendering_dt=rendering_frequency,
device=self.device,

43
omnigibson/simulator.py
View File

@ -224,7 +224,7 @@ def _launch_app():
return app
def launch_simulator(*args, **kwargs):
def _launch_simulator(*args, **kwargs):
if not og.app:
og.app = _launch_app()
@ -243,8 +243,6 @@ def launch_simulator(*args, **kwargs):
current application and not only rendering a frame to the viewports/ cameras. So UI elements of
Isaac Sim will be refreshed with this dt as well if running non-headless. If None, will use default
value 1 / gm.DEFAULT_RENDERING_FREQ
stage_units_in_meters (float): The metric units of assets. This will affect gravity value..etc.
Defaults to 0.01.
viewer_width (int): width of the camera image, in pixels
viewer_height (int): height of the camera image, in pixels
device (None or str): specifies the device to be used if running on the gpu with torch backend
@ -255,7 +253,6 @@ def launch_simulator(*args, **kwargs):
gravity=9.81,
physics_dt=None,
rendering_dt=None,
stage_units_in_meters=1.0,
viewer_width=gm.DEFAULT_VIEWER_WIDTH,
viewer_height=gm.DEFAULT_VIEWER_HEIGHT,
device=None,
@ -284,7 +281,6 @@ def launch_simulator(*args, **kwargs):
super().__init__(
physics_dt=1.0 / gm.DEFAULT_PHYSICS_FREQ if physics_dt is None else physics_dt,
rendering_dt=1.0 / gm.DEFAULT_RENDERING_FREQ if rendering_dt is None else rendering_dt,
stage_units_in_meters=stage_units_in_meters,
device=device,
)
@ -1427,6 +1423,43 @@ def launch_simulator(*args, **kwargs):
return None
def _partial_clear(self):
"""Partial clear clearing all components owned by the Simulator. Rest is completed in og.clear."""
# Stop the physics
self.stop()
# Clear all scenes
for scene in self.scenes:
scene.clear()
# Remove the skybox, floor plane and viewer camera
if self._skybox is not None:
self._skybox.remove()
if self._floor_plane is not None:
self._floor_plane.remove()
if self._viewer_camera is not None:
self._viewer_camera.remove()
if self._camera_mover is not None:
self._camera_mover.clear()
# Clear the vision sensor cache
VisionSensor.clear()
# Clear all global update states
for state in self.object_state_types_requiring_update:
if issubclass(state, GlobalUpdateStateMixin):
state.global_initialize()
# Clear all materials
MaterialPrim.clear()
# Clear uniquely named items and other internal states
clear_python_utils()
clear_usd_utils()
def close(self):
"""
Shuts down the OmniGibson application

3
tests/benchmark/benchmark_interactive_scene.py
View File

@ -11,7 +11,6 @@ from omnigibson.macros import gm
from omnigibson.objects import DatasetObject
from omnigibson.robots.turtlebot import Turtlebot
from omnigibson.scenes.interactive_traversable_scene import InteractiveTraversableScene
from omnigibson.simulator import launch_simulator
from omnigibson.utils.asset_utils import get_og_assets_version
from omnigibson.utils.constants import PrimType
@ -32,7 +31,7 @@ gm.DEFAULT_VIEWER_HEIGHT = 128
# Launch the simulator
launch_simulator(physics_dt=1 / 60.0, rendering_dt=1 / 60.0)
og.launch(physics_dt=1 / 60.0, rendering_dt=1 / 60.0)
def benchmark_scene(scene_name, non_rigid_simulation=False, import_robot=True):

4
tests/benchmark/benchmark_object_count.py
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@ -8,7 +8,7 @@ import time
import matplotlib.pyplot as plt
import numpy as np
from omnigibson import app, launch_simulator
from omnigibson import app, launch
from omnigibson.objects.primitive_object import PrimitiveObject
from omnigibson.scenes.scene_base import Scene
from omnigibson.utils.asset_utils import get_og_assets_version
@ -94,7 +94,7 @@ def benchmark_scene(sim):
def main():
assert MAX_NUM_OBJS <= 1000
sim = launch_simulator()
sim = launch()
benchmark_scene(sim)
app.close()