Merge branch 'og-develop' into empty-action

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,32 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: hang-yin
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Desktop (please complete the following information):**
+ - OS: [e.g. Ubuntu 22.04]
+ - Isaac Sim Version [e.g. 4.1.0]
+ - OmniGibson Version [e.g. 1.1.0]
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: enhancement
+assignees: cgokmen
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/ISSUE_TEMPLATE/question.md

@@ -0,0 +1,10 @@
+---
+name: Question
+about: PLEASE POST QUESTIONS IN THE DISCUSSIONS TAB
+title: ''
+labels: question
+assignees: ''
+
+---
+
+**PLEASE POST QUESTIONS IN THE DISCUSSIONS TAB**

.github/workflows/build-push-containers.yml

@@ -77,6 +77,16 @@ jobs:
           tags: |
             type=ref,event=branch
             type=semver,pattern={{version}}
+      -
+        name: Metadata for dev Image
+        id: meta-dev
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            stanfordvl/omnigibson-dev
+          tags: |
+            type=ref,event=branch
+            type=semver,pattern={{version}}
       -
         name: Metadata for vscode Image
         id: meta-vscode
@@ -97,8 +107,22 @@ jobs:
           tags: ${{ steps.meta-prod.outputs.tags }}
           labels: ${{ steps.meta-prod.outputs.labels }}
           file: docker/prod.Dockerfile
-          cache-from: type=gha
-          cache-to: type=gha,mode=min
+          cache-from: type=registry,ref=stanfordvl/omnigibson:og-develop
+          cache-to: type=inline
+
+      -
+        name: Build and push dev image
+        id: build-dev
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          build-args: "DEV_MODE=1"
+          push: true
+          tags: ${{ steps.meta-dev.outputs.tags }}
+          labels: ${{ steps.meta-dev.outputs.labels }}
+          file: docker/prod.Dockerfile
+          cache-from: type=registry,ref=stanfordvl/omnigibson:og-develop  # OK to share cache here.
+          cache-to: type=inline
 
       - name: Update vscode image Dockerfile with prod image tag
         run: |
@@ -113,5 +137,5 @@ jobs:
           tags: ${{ steps.meta-vscode.outputs.tags }}
           labels: ${{ steps.meta-vscode.outputs.labels }}
           file: docker/vscode.Dockerfile
-          cache-from: type=gha
-          cache-to: type=gha,mode=min
+          cache-from: type=registry,ref=stanfordvl/omnigibson:og-develop  # OK to share cache here.
+          cache-to: type=inline

.github/workflows/examples-as-test.yml

@@ -25,14 +25,10 @@ jobs:
         with:
           submodules: true
           path: omnigibson-src
-
-      - name: Install dev requirements
-        working-directory: omnigibson-src
-        run: pip install -r requirements-dev.txt
-
+
       - name: Install
         working-directory: omnigibson-src
-        run: pip install -e .
+        run: pip install -e .[dev]
 
       - name: Generate example tests
         working-directory: omnigibson-src
@@ -78,13 +74,9 @@ jobs:
           submodules: true
           path: omnigibson-src
 
-      - name: Install dev requirements
-        working-directory: omnigibson-src
-        run: pip install -r requirements-dev.txt
-
       - name: Install
         working-directory: omnigibson-src
-        run: pip install -e .
+        run: pip install -e .[dev]
 
       - name: Run tests
         working-directory: omnigibson-src

.github/workflows/profiling.yml

@@ -32,11 +32,9 @@ jobs:
       - name: Checkout source
         uses: actions/checkout@v3
 
-      - name: Install dev requirements
-        run: pip install -r requirements-dev.txt
-
       - name: Install
-        run: pip install -e .
+        working-directory: omnigibson-src
+        run: pip install -e .[dev]
 
       - name: Run performance benchmark
         run: bash scripts/profiling.sh

.github/workflows/tests.yml

@@ -49,13 +49,12 @@ jobs:
           submodules: true
           path: omnigibson-src
 
-      - name: Install dev requirements
-        working-directory: omnigibson-src
-        run: pip install -r requirements-dev.txt
-
       - name: Install
         working-directory: omnigibson-src
-        run: pip install -e .
+        run: pip install -e .[dev]
+
+      - name: Print env
+        run: printenv
 
       - name: Run tests
         working-directory: omnigibson-src

docker/build_docker.sh

@@ -7,6 +7,14 @@ docker build \
     -f docker/prod.Dockerfile \
     .
 
+# Pass the DEV_MODE=1 arg to the docker build command to build the development image
+docker build \
+    -t stanfordvl/omnigibson-dev:latest \
+    -t stanfordvl/omnigibson-dev:$(sed -ne "s/.*version= *['\"]\([^'\"]*\)['\"] *.*/\1/p" setup.py) \
+    -f docker/prod.Dockerfile \
+    --build-arg DEV_MODE=1 \
+    .
+
 docker build \
     -t stanfordvl/omnigibson-vscode:latest \
     -f docker/vscode.Dockerfile \

docker/gh-actions/Dockerfile

@@ -1,4 +1,4 @@
-FROM stanfordvl/omnigibson:og-develop
+FROM stanfordvl/omnigibson-dev:og-develop
 
 ARG DUMB_INIT_VERSION="1.2.2"
 ARG GIT_CORE_PPA_KEY="A1715D88E1DF1F24"
@@ -99,7 +99,7 @@ RUN echo en_US.UTF-8 UTF-8 >> /etc/locale.gen \
 ENV AGENT_TOOLSDIRECTORY=/opt/hostedtoolcache
 RUN mkdir -p /opt/hostedtoolcache
 
-ARG GH_RUNNER_VERSION="2.311.0"
+ARG GH_RUNNER_VERSION="2.320.0"
 
 ARG TARGETPLATFORM
 

docker/prod.Dockerfile

@@ -58,17 +58,28 @@ RUN micromamba run -n omnigibson /bin/bash --login -c 'source /isaac-sim/setup_c
 # Test OMPL
 RUN micromamba run -n omnigibson python -c "from ompl import base"
 
-# Add setup to be executed on bash launch
-RUN echo "OMNIGIBSON_NO_OMNIVERSE=1 python omnigibson/download_datasets.py" >> /root/.bashrc
-
 # Copy over omnigibson source
 ADD . /omnigibson-src
 WORKDIR /omnigibson-src
 
+# Set the shell
 SHELL ["micromamba", "run", "-n", "omnigibson", "/bin/bash", "--login", "-c"]
 
-# Install OmniGibson
-RUN micromamba run -n omnigibson pip install -e .
+# Optionally install OmniGibson (e.g. unless the DEV_MODE flag is set) or
+# remove the OmniGibson source code if we are in dev mode and change the workdir
+ARG DEV_MODE
+ENV DEV_MODE=${DEV_MODE}
+ARG WORKDIR_PATH=/omnigibson-src
+RUN if [ "$DEV_MODE" != "1" ]; then \
+      echo "OMNIGIBSON_NO_OMNIVERSE=1 python omnigibson/download_datasets.py" >> /root/.bashrc; \
+      micromamba run -n omnigibson pip install -e .[dev]; \
+    else \
+      WORKDIR_PATH=/; \
+      cd / && rm -rf /omnigibson-src; \
+    fi
+
+# Reset the WORKDIR based on whether or not we are in dev mode
+WORKDIR ${WORKDIR_PATH}
 
 ENTRYPOINT ["micromamba", "run", "-n", "omnigibson"]
 CMD ["/bin/bash"]

omnigibson/examples/robots/robot_control_example.py

@@ -44,15 +44,19 @@ def choose_controllers(robot, random_selection=False):
     default_config = robot._default_controller_config
 
     # Iterate over all components in robot
-    for component, controller_options in default_config.items():
+    controller_names = robot.controller_order
+    for controller_name in controller_names:
+        controller_options = default_config[controller_name]
         # Select controller
         options = list(sorted(controller_options.keys()))
         choice = choose_from_options(
-            options=options, name="{} controller".format(component), random_selection=random_selection
+            options=options,
+            name=f"{controller_name} controller",
+            random_selection=random_selection,
         )
 
         # Add to user responses
-        controller_choices[component] = choice
+        controller_choices[controller_name] = choice
 
     return controller_choices
 

omnigibson/robots/a1.py

@@ -218,7 +218,7 @@ def assisted_grasp_end_points(self):
     @property
     def disabled_collision_pairs(self):
         # some dexhand has self collisions that needs to be filtered out
+        pairs = [["base_link", "connector"]]
         if self.end_effector == "inspire":
-            return [["base_link", "link12"]]
-        else:
-            return []
+            pairs.append(["base_link", "link12"])
+        return pairs

omnigibson/robots/articulated_trunk_robot.py

@@ -34,7 +34,7 @@ def __init__(
         scale=None,
         visible=True,
         visual_only=False,
-        self_collisions=False,
+        self_collisions=True,
         load_config=None,
         fixed_base=False,
         # Unique to USDObject hierarchy

omnigibson/robots/fetch.py

@@ -32,7 +32,7 @@ def __init__(
         scale=None,
         visible=True,
         visual_only=False,
-        self_collisions=False,
+        self_collisions=True,
         load_config=None,
         fixed_base=False,
         # Unique to USDObject hierarchy

omnigibson/robots/holonomic_base_robot.py

@@ -40,7 +40,7 @@ def __init__(
         visible=True,
         fixed_base=False,
         visual_only=False,
-        self_collisions=False,
+        self_collisions=True,
         load_config=None,
         # Unique to USDObject hierarchy
         abilities=None,

omnigibson/robots/locobot.py

@@ -35,3 +35,15 @@ def usd_path(self):
     @property
     def urdf_path(self):
         return os.path.join(gm.ASSET_PATH, "models/locobot/locobot.urdf")
+
+    @property
+    def disabled_collision_pairs(self):
+        # badly modeled gripper collision meshes
+        return [
+            ["base_link", "arm_base_link"],
+            ["base_link", "plate_2"],
+            ["cam_mount", "forearm_link"],
+            ["cam_mount", "elbow_link"],
+            ["cam_mount", "plate_1"],
+            ["cam_mount", "plate_2"],
+        ]

omnigibson/robots/manipulation_robot.py

@@ -70,7 +70,7 @@ def __init__(
         visible=True,
         fixed_base=False,
         visual_only=False,
-        self_collisions=False,
+        self_collisions=True,
         load_config=None,
         # Unique to USDObject hierarchy
         abilities=None,

omnigibson/robots/mobile_manipulation_robot.py

@@ -33,7 +33,7 @@ def __init__(
         scale=None,
         visible=True,
         visual_only=False,
-        self_collisions=False,
+        self_collisions=True,
         load_config=None,
         fixed_base=False,
         # Unique to USDObject hierarchy

omnigibson/robots/r1.py

@@ -27,7 +27,7 @@ def __init__(
         scale=None,
         visible=True,
         visual_only=False,
-        self_collisions=False,
+        self_collisions=True,
         load_config=None,
         # Unique to USDObject hierarchy
         abilities=None,
@@ -254,4 +254,7 @@ def disabled_collision_pairs(self):
         return [
             ["left_gripper_link1", "left_gripper_link2"],
             ["right_gripper_link1", "right_gripper_link2"],
+            ["base_link", "wheel_link1"],
+            ["base_link", "wheel_link2"],
+            ["base_link", "wheel_link3"],
         ]

omnigibson/robots/robot_base.py

@@ -56,7 +56,7 @@ def __init__(
         visible=True,
         fixed_base=False,
         visual_only=False,
-        self_collisions=False,
+        self_collisions=True,
         load_config=None,
         # Unique to USDObject hierarchy
         abilities=None,

omnigibson/robots/stretch.py

@@ -117,9 +117,14 @@ def disabled_collision_pairs(self):
             ["link_arm_l4", "link_arm_l3"],
             ["link_arm_l4", "link_arm_l2"],
             ["link_arm_l4", "link_arm_l1"],
+            ["link_arm_l4", "link_aruco_inner_wrist"],
             ["link_arm_l3", "link_arm_l2"],
             ["link_arm_l3", "link_arm_l1"],
+            ["link_arm_l3", "link_aruco_top_wrist"],
+            ["link_arm_l3", "link_aruco_inner_wrist"],
             ["link_arm_l2", "link_arm_l1"],
+            ["link_arm_l2", "link_aruco_top_wrist"],
+            ["link_arm_l2", "link_aruco_inner_wrist"],
             ["link_arm_l0", "link_arm_l1"],
             ["link_arm_l0", "link_arm_l2"],
             ["link_arm_l0", "link_arm_l3"],
@@ -131,6 +136,8 @@ def disabled_collision_pairs(self):
             ["link_arm_l0", "link_wrist_yaw_bottom"],
             ["link_arm_l0", "link_wrist_pitch"],
             ["link_wrist_yaw_bottom", "link_wrist_pitch"],
+            ["link_wrist_yaw_bottom", "link_arm_l4"],
+            ["link_wrist_yaw_bottom", "link_arm_l3"],
             ["gripper_camera_link", "link_gripper_s3_body"],
             ["link_gripper_s3_body", "link_aruco_d405"],
             ["link_gripper_s3_body", "link_gripper_finger_left"],

omnigibson/robots/tiago.py

@@ -31,7 +31,7 @@ def __init__(
         scale=None,
         visible=True,
         visual_only=False,
-        self_collisions=False,
+        self_collisions=True,
         load_config=None,
         # Unique to USDObject hierarchy
         abilities=None,