From f59aede52884fc5d4d465a8ffe0cc60b7d56ef38 Mon Sep 17 00:00:00 2001 From: Frank Yang Date: Fri, 2 Aug 2024 15:50:41 -0700 Subject: [PATCH 1/2] 4.1.0 support and windows installation fix --- omnigibson/omnigibson_4_1_0.kit | 369 ++++++++++++++++++++++++++++++++ omnigibson/simulator.py | 1 + setup.py | 2 +- 3 files changed, 371 insertions(+), 1 deletion(-) create mode 100644 omnigibson/omnigibson_4_1_0.kit diff --git a/omnigibson/omnigibson_4_1_0.kit b/omnigibson/omnigibson_4_1_0.kit new file mode 100644 index 000000000..ec5784664 --- /dev/null +++ b/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 diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py index 980a80d24..456946099 100644 --- a/omnigibson/simulator.py +++ b/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", } diff --git a/setup.py b/setup.py index 0d35ecdd4..cbabf154a 100644 --- a/setup.py +++ b/setup.py @@ -49,7 +49,7 @@ "numba~=0.60.0", ], extras_require={ - "isaac": ["isaacsim-for-omnigibson>=4.0.0"], + "isaac": ["isaacsim-for-omnigibson>=4.1.0"], }, tests_require=[], python_requires=">=3", From ac300bfea46fb58e511d74aea593fc0570eecc1e Mon Sep 17 00:00:00 2001 From: Frank Yang Date: Mon, 5 Aug 2024 11:53:34 -0700 Subject: [PATCH 2/2] setup sh and bat string matching update --- scripts/setup.bat | 4 ++-- scripts/setup.sh | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/scripts/setup.bat b/scripts/setup.bat index 7e50e3eda..651ce3887 100644 --- a/scripts/setup.bat +++ b/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 %ISAAC_SIM_PATH%! 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 %ISAAC_SIM_PATH%! Make sure you have entered the correct path ^>^>^> goto :check_isaac_sim_path ) echo: diff --git a/scripts/setup.sh b/scripts/setup.sh index 0c6474f2b..6ef119efa 100755 --- a/scripts/setup.sh +++ b/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 $ISAAC_SIM_PATH! Make sure you have entered the correct path >>> " ISAAC_SIM_PATH +while [[ ! -f "${ISAAC_SIM_PATH}/isaac*.sh" ]]; do + read -p "isaac*.sh not found in $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"