Merge pull request #637 from StanfordVL/remap-seg-instance

Instance Segmentation Remapping for Particle Systems

omnigibson/objects/controllable_object.py

@@ -25,7 +25,6 @@ def __init__(
         name,
         prim_path=None,
         category="object",
-        class_id=None,
         uuid=None,
         scale=None,
         visible=True,
@@ -47,8 +46,6 @@ def __init__(
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
             category (str): Category for the object. Defaults to "object".
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -96,7 +93,6 @@ def __init__(
             prim_path=prim_path,
             name=name,
             category=category,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,

omnigibson/objects/dataset_object.py

@@ -37,7 +37,6 @@ def __init__(
         prim_path=None,
         category="object",
         model=None,
-        class_id=None,
         uuid=None,
         scale=None,
         visible=True,
@@ -65,9 +64,6 @@ def __init__(
                     {og_dataset_path}/objects/{category}/{model}/usd/{model}.usd
 
                 Otherwise, will randomly sample a model given @category
-
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -123,7 +119,6 @@ def __init__(
             encrypted=True,
             name=name,
             category=category,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,
@@ -447,7 +442,6 @@ def _create_prim_with_same_kwargs(self, prim_path, name, load_config):
             prim_path=prim_path,
             name=name,
             category=self.category,
-            class_id=self.class_id,
             scale=self.scale,
             visible=self.visible,
             fixed_base=self.fixed_base,

omnigibson/objects/light_object.py

@@ -32,7 +32,6 @@ def __init__(
         light_type,
         prim_path=None,
         category="light",
-        class_id=None,
         uuid=None,
         scale=None,
         fixed_base=False,
@@ -51,8 +50,6 @@ def __init__(
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
             category (str): Category for the object. Defaults to "object".
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -88,7 +85,6 @@ def __init__(
             prim_path=prim_path,
             name=name,
             category=category,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=True,

omnigibson/objects/object_base.py

@@ -37,7 +37,6 @@ def __init__(
             name,
             prim_path=None,
             category="object",
-            class_id=None,
             uuid=None,
             scale=None,
             visible=True,
@@ -55,8 +54,6 @@ def __init__(
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
             category (str): Category for the object. Defaults to "object".
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -86,11 +83,6 @@ def __init__(
         self.category = category
         self.fixed_base = fixed_base
 
-        # Infer class ID if not specified
-        if class_id is None:
-            class_id = semantic_class_name_to_id()[category]
-        self.class_id = class_id
-
         # Values to be created at runtime
         self._highlight_cached_values = None
         self._highlighted = None

omnigibson/objects/primitive_object.py

@@ -31,7 +31,6 @@ def __init__(
         primitive_type,
         prim_path=None,
         category="object",
-        class_id=None,
         uuid=None,
         scale=None,
         visible=True,
@@ -57,8 +56,6 @@ def __init__(
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
             category (str): Category for the object. Defaults to "object".
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -108,7 +105,6 @@ def __init__(
             prim_path=prim_path,
             name=name,
             category=category,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,
@@ -320,7 +316,6 @@ def _create_prim_with_same_kwargs(self, prim_path, name, load_config):
             primitive_type=self._primitive_type,
             name=name,
             category=self.category,
-            class_id=self.class_id,
             scale=self.scale,
             visible=self.visible,
             fixed_base=self.fixed_base,

omnigibson/objects/stateful_object.py

@@ -52,7 +52,6 @@ def __init__(
             name,
             prim_path=None,
             category="object",
-            class_id=None,
             uuid=None,
             scale=None,
             visible=True,
@@ -72,8 +71,6 @@ def __init__(
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
             category (str): Category for the object. Defaults to "object".
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -117,7 +114,6 @@ def __init__(
             prim_path=prim_path,
             name=name,
             category=category,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,

omnigibson/objects/usd_object.py

@@ -21,7 +21,6 @@ def __init__(
         encrypted=False,
         prim_path=None,
         category="object",
-        class_id=None,
         uuid=None,
         scale=None,
         visible=True,
@@ -43,8 +42,6 @@ def __init__(
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
             category (str): Category for the object. Defaults to "object".
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -75,7 +72,6 @@ def __init__(
             prim_path=prim_path,
             name=name,
             category=category,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,
@@ -118,7 +114,6 @@ def _create_prim_with_same_kwargs(self, prim_path, name, load_config):
             usd_path=self._usd_path,
             name=name,
             category=self.category,
-            class_id=self.class_id,
             scale=self.scale,
             visible=self.visible,
             fixed_base=self.fixed_base,

omnigibson/robots/behavior_robot.py

@@ -58,7 +58,6 @@ def __init__(
             # Shared kwargs in hierarchy
             name,
             prim_path=None,
-            class_id=None,
             uuid=None,
             scale=None,
             visible=True,
@@ -97,7 +96,6 @@ def __init__(
         super(BehaviorRobot, self).__init__(
             prim_path=prim_path,
             name=name,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,

omnigibson/robots/fetch.py

@@ -38,7 +38,6 @@ def __init__(
         # Shared kwargs in hierarchy
         name,
         prim_path=None,
-        class_id=None,
         uuid=None,
         scale=None,
         visible=True,
@@ -78,8 +77,6 @@ def __init__(
             name (str): Name for the object. Names need to be unique per scene
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -144,7 +141,6 @@ def __init__(
         super().__init__(
             prim_path=prim_path,
             name=name,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,

omnigibson/robots/franka.py

@@ -16,7 +16,6 @@ def __init__(
         # Shared kwargs in hierarchy
         name,
         prim_path=None,
-        class_id=None,
         uuid=None,
         scale=None,
         visible=True,
@@ -50,8 +49,6 @@ def __init__(
             name (str): Name for the object. Names need to be unique per scene
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -98,7 +95,6 @@ def __init__(
         super().__init__(
             prim_path=prim_path,
             name=name,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,

omnigibson/robots/franka_allegro.py

@@ -16,7 +16,6 @@ def __init__(
         # Shared kwargs in hierarchy
         name,
         prim_path=None,
-        class_id=None,
         uuid=None,
         scale=None,
         visible=True,
@@ -50,8 +49,6 @@ def __init__(
             name (str): Name for the object. Names need to be unique per scene
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -99,7 +96,6 @@ def __init__(
         super().__init__(
             prim_path=prim_path,
             name=name,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,

omnigibson/robots/franka_leap.py

@@ -18,7 +18,6 @@ def __init__(
         name,
         hand="right",
         prim_path=None,
-        class_id=None,
         uuid=None,
         scale=None,
         visible=True,
@@ -53,8 +52,6 @@ def __init__(
             hand (str): One of {"left", "right"} - which hand to use, default is right
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -103,7 +100,6 @@ def __init__(
         super().__init__(
             prim_path=prim_path,
             name=name,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,

omnigibson/robots/manipulation_robot.py

@@ -63,7 +63,6 @@ def __init__(
         # Shared kwargs in hierarchy
         name,
         prim_path=None,
-        class_id=None,
         uuid=None,
         scale=None,
         visible=True,
@@ -99,8 +98,6 @@ def __init__(
             name (str): Name for the object. Names need to be unique per scene
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -171,7 +168,6 @@ def __init__(
         super().__init__(
             prim_path=prim_path,
             name=name,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,

omnigibson/robots/robot_base.py

@@ -38,7 +38,6 @@ def __init__(
         # Shared kwargs in hierarchy
         name,
         prim_path=None,
-        class_id=None,
         uuid=None,
         scale=None,
         visible=True,
@@ -69,8 +68,6 @@ def __init__(
             name (str): Name for the object. Names need to be unique per scene
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -135,7 +132,6 @@ def __init__(
             usd_path=self.usd_path,
             name=name,
             category=m.ROBOT_CATEGORY,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,

omnigibson/robots/tiago.py

@@ -50,7 +50,6 @@ def __init__(
         # Shared kwargs in hierarchy
         name,
         prim_path=None,
-        class_id=None,
         uuid=None,
         scale=None,
         visible=True,
@@ -92,8 +91,6 @@ def __init__(
             prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                 created at /World/<name>
             category (str): Category for the object. Defaults to "object".
-            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
-                If None, the ID will be inferred from this object's category.
             uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                 If None is specified, then it will be auto-generated
             scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
@@ -165,7 +162,6 @@ def __init__(
         super().__init__(
             prim_path=prim_path,
             name=name,
-            class_id=class_id,
             uuid=uuid,
             scale=scale,
             visible=visible,