Merge pull request #829 from StanfordVL/pip-install

isaacsim new version support and windows installation fix

omnigibson/omnigibson_4_1_0.kit

@@ -0,0 +1,369 @@
+[package]
+title = "OmniGibson"
+description = "A platform for accelerating Embodied AI research"
+version = "4.1.0"
+
+# 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.dofbot" = {}
+"omni.isaac.dynamic_control" = {}
+"omni.isaac.franka" = {}
+"omni.isaac.gym" = {}
+"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 = 120
+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 = "${app}/../VERSION"
+app.name = "Isaac-Sim"
+app.version = "4.1.0"
+
+# hide NonToggleable Exts
+exts."omni.kit.window.extensions".hideNonToggleableExts = true
+exts."omni.kit.window.extensions".showFeatureOnly = false
+
+# Hang Detector
+################################
+# app.hangDetector.enabled = false
+# app.hangDetector.timeout = 120
+
+# RTX Settings
+###############################
+[settings.rtx]
+translucency.worldEps = 0.005
+
+# Content Browser
+###############################
+[settings.exts."omni.kit.window.content_browser"]
+enable_thumbnail_generation_images = false # temp fix to avoid leaking python processes
+
+# Extensions
+###############################
+[settings.exts."omni.kit.registry.nucleus"]
+registries = [
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/shared" },
+    { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${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

omnigibson/simulator.py

@@ -70,6 +70,7 @@
 
 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",
 }
 

scripts/setup.bat

@@ -13,8 +13,8 @@ if errorlevel 0 (
     set /p ISAAC_SIM_PATH=If you have already installed it in a custom location, please type in the path containing isaac-sim.bat here ^>^>^> 
 )
 :check_isaac_sim_path
-if not exist %ISAAC_SIM_PATH%\isaac-sim.bat (
-    set /p ISAAC_SIM_PATH=isaac-sim.bat not found in [4m%ISAAC_SIM_PATH%[0m! Make sure you have entered the correct path ^>^>^>
+if not exist %ISAAC_SIM_PATH%\isaac*.bat (
+    set /p ISAAC_SIM_PATH=isaac*.bat not found in [4m%ISAAC_SIM_PATH%[0m! Make sure you have entered the correct path ^>^>^>
     goto :check_isaac_sim_path
 )
 echo:

scripts/setup.sh

@@ -14,8 +14,8 @@ 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 "${ISAAC_SIM_PATH}/isaac-sim.sh" ]]; do
-  read -p "isaac-sim.sh not found in [4m$ISAAC_SIM_PATH[0m! Make sure you have entered the correct path >>> " ISAAC_SIM_PATH
+while [[ ! -f "${ISAAC_SIM_PATH}/isaac*.sh" ]]; do
+  read -p "isaac*.sh not found in [4m$ISAAC_SIM_PATH[0m! Make sure you have entered the correct path >>> " ISAAC_SIM_PATH
 done
 echo -e "\nUsing Isaac Sim at $ISAAC_SIM_PATH\n"