Merge pull request #643 from StanfordVL/fix-examples

Fixes for all example scripts

omnigibson/envs/env_base.py

@@ -558,7 +558,7 @@ def reset(self):
         og.sim.step()
 
         # Grab and return observations
-        obs, obs_info = self.get_obs()
+        obs, _ = self.get_obs()
 
         if self._loaded:
             # Sanity check to make sure received observations match expected observation space
@@ -598,7 +598,7 @@ def reset(self):
                 raise ValueError("Observation space does not match returned observations!")
 
 
-        return obs, obs_info
+        return obs
 
     @property
     def episode_steps(self):

omnigibson/examples/learning/navigation_policy_demo.py

@@ -28,9 +28,9 @@
 except ModuleNotFoundError:
     og.log.error("torch, stable-baselines3, or tensorboard is not installed. "
                  "See which packages are missing, and then run the following for any missing packages:\n"
-                 "pip install torch\n"
-                 "pip install stable-baselines3==1.7.0\n"
+                 "pip install stable-baselines3[extra]\n"
                  "pip install tensorboard\n"
+                 "pip install shimmy>=0.2.1\n"
                  "Also, please update gym to >=0.26.1 after installing sb3: pip install gym>=0.26.1")
     exit(1)
 

omnigibson/examples/object_states/attachment_demo.py

@@ -32,24 +32,31 @@ def main(random_selection=False, headless=False, short_exec=False):
         name="shelf_back_panel",
         category="shelf_back_panel",
         model="gjsnrt",
-        bounding_box=[0.8, 2.02, 0.02],
         position=[0, 0, 0.01],
+        fixed_base=True,
         abilities={"attachable": {}},
     ))
     idx += 1
 
-    xs = [-0.4, 0.4]
-    for i in range(2):
-        obj_cfgs.append(dict(
-            type="DatasetObject",
-            name=f"shelf_side_{i}",
-            category="shelf_side",
-            model="bxfkjj",
-            bounding_box=[0.03, 2.02, 0.26],
-            position=[xs[i], 0, base_z + delta_z * idx],
-            abilities={"attachable": {}},
-        ))
-        idx += 1
+    obj_cfgs.append(dict(
+        type="DatasetObject",
+        name=f"shelf_side_left",
+        category="shelf_side",
+        model="bxfkjj",
+        position=[-0.4, 0, base_z + delta_z * idx],
+        abilities={"attachable": {}},
+    ))
+    idx += 1
+
+    obj_cfgs.append(dict(
+        type="DatasetObject",
+        name=f"shelf_side_right",
+        category="shelf_side",
+        model="yujrmw",
+        position=[0.4, 0, base_z + delta_z * idx],
+        abilities={"attachable": {}},
+    ))
+    idx += 1
 
     ys = [-0.93, -0.61, -0.29, 0.03, 0.35, 0.68]
     for i in range(6):
@@ -58,7 +65,6 @@ def main(random_selection=False, headless=False, short_exec=False):
             name=f"shelf_shelf_{i}",
             category="shelf_shelf",
             model="ymtnqa",
-            bounding_box=[0.74, 0.023, 0.26],
             position=[0, ys[i], base_z + delta_z * idx],
             abilities={"attachable": {}},
         ))
@@ -69,7 +75,6 @@ def main(random_selection=False, headless=False, short_exec=False):
         name="shelf_top_0",
         category="shelf_top",
         model="pfiole",
-        bounding_box=[0.74, 0.04, 0.26],
         position=[0, 1.0, base_z + delta_z * idx],
         abilities={"attachable": {}},
     ))
@@ -80,7 +85,6 @@ def main(random_selection=False, headless=False, short_exec=False):
         name=f"shelf_baseboard",
         category="shelf_baseboard",
         model="hlhneo",
-        bounding_box=[0.742, 0.067, 0.02],
         position=[0, -0.97884506, base_z + delta_z * idx],
         abilities={"attachable": {}},
     ))
@@ -102,12 +106,17 @@ def main(random_selection=False, headless=False, short_exec=False):
     shelf_baseboard = og.sim.scene.object_registry("name", "shelf_baseboard")
     shelf_baseboard.set_position_orientation([0, -0.979, 0.26], [0, 0, 0, 1])
     shelf_baseboard.keep_still()
-    shelf_baseboard.set_linear_velocity([-0.2, 0, 0])
-
+    shelf_baseboard.set_linear_velocity(np.array([-0.2, 0, 0]))
+
+    shelf_side_left = og.sim.scene.object_registry("name", "shelf_side_left")
+    shelf_side_left.set_position_orientation([-0.4, 0.0, 0.2], [0, 0, 0, 1])
+    shelf_side_left.keep_still()
+
     input("\n\nShelf parts fall to their correct poses and get automatically attached to the back panel.\n"
-          "You can try to drag the shelf to hit the floor to break it apart. Press [ENTER] to continue.\n")
+          "You can try to drag (Shift + Left-CLICK + Drag) parts of the shelf to break it apart (you may need to zoom out and drag with a larger force).\n"
+          "Press [ENTER] to continue.\n")
 
-    for _ in range(1000):
+    for _ in range(5000):
         og.sim.step()
 
     og.shutdown()

omnigibson/examples/object_states/dicing_demo.py

@@ -42,7 +42,7 @@ def main(random_selection=False, headless=False, short_exec=False):
         category="table_knife",
         model="lrdmpf",
         bounding_box=[0.401, 0.044, 0.009],
-        position=[0, 0, 10.0],
+        position=[0, 0, 20.0],
     )
 
     light0_cfg = dict(

omnigibson/examples/object_states/object_state_texture_demo.py

@@ -12,21 +12,13 @@
 
 
 def main():
-    # Create the scene config to load -- empty scene plus a light and a cabinet
+    # Create the scene config to load -- empty scene plus a cabinet
     cfg = {
         "scene": {
             "type": "Scene",
             "floor_plane_visible": True,
         },
         "objects": [
-            {
-                "type": "LightObject",
-                "name": "light",
-                "light_type": "Sphere",
-                "radius": 0.01,
-                "intensity": 1e8,
-                "position": [-2.0, -2.0, 1.0],
-            },
             {
                 "type": "DatasetObject",
                 "name": "cabinet",

omnigibson/examples/object_states/particle_applier_remover_demo.py

@@ -100,16 +100,6 @@ def main(random_selection=False, headless=False, short_exec=False):
         }
     }
 
-    # Define objects to load: a light, table, and cloth
-    light_cfg = dict(
-        type="LightObject",
-        name="light",
-        light_type="Sphere",
-        radius=0.01,
-        intensity=1e8,
-        position=[-2.0, -2.0, 2.0],
-    )
-
     table_cfg = dict(
         type="DatasetObject",
         name="table",
@@ -124,7 +114,7 @@ def main(random_selection=False, headless=False, short_exec=False):
         "scene": {
             "type": "Scene",
         },
-        "objects": [light_cfg, table_cfg],
+        "objects": [table_cfg],
     }
 
     # Sanity check inputs: Remover + Adjacency + Fluid will not work because we are using a visual_only
@@ -148,7 +138,7 @@ def main(random_selection=False, headless=False, short_exec=False):
         name="modifier",
         category="dishtowel",
         model="dtfspn",
-        bounding_box=[0.341, 0.466, 0.07],
+        bounding_box=[0.34245, 0.46798, 0.07],
         visual_only=method_type == "Projection",  # Non-fluid adjacency requires the object to have collision geoms active
         abilities=abilities,
     )
@@ -203,9 +193,9 @@ def main(random_selection=False, headless=False, short_exec=False):
 
     # Move object in square around table
     deltas = [
-        [150, np.array([-0.01, 0, 0])],
+        [130, np.array([-0.01, 0, 0])],
         [60, np.array([0, -0.01, 0])],
-        [150, np.array([0.01, 0, 0])],
+        [130, np.array([0.01, 0, 0])],
         [60, np.array([0, 0.01, 0])],
     ]
     for t, delta in deltas:

omnigibson/examples/object_states/sample_kinematics_demo.py

@@ -49,7 +49,7 @@ def main(random_selection=False, headless=False, short_exec=False):
             name=f"plate{i}",
             category="plate",
             model="iawoof",
-            bounding_box=np.array([0.25, 0.25, 0.05]),
+            bounding_box=np.array([0.20, 0.20, 0.05]),
     ) for i in range(2)]
 
     apple_cfgs = [dict(

omnigibson/examples/object_states/slicing_demo.py

@@ -40,7 +40,7 @@ def main(random_selection=False, headless=False, short_exec=False):
         category="table_knife",
         model="lrdmpf",
         bounding_box=[0.401, 0.044, 0.009],
-        position=[0, 0, 10.0],
+        position=[0, 0, 20.0],
     )
 
     light0_cfg = dict(

omnigibson/examples/objects/load_object_selector.py

@@ -39,7 +39,6 @@ def main(random_selection=False, headless=False, short_exec=False):
         name="obj",
         category=obj_category,
         model=obj_model,
-        bounding_box=avg_category_spec.get(obj_category),
         position=[0, 0, 50.0],
     )
 

omnigibson/examples/robots/advanced/ik_example.py

@@ -38,32 +38,32 @@ def main(random_selection=False, headless=False, short_exec=False):
         programmatic_pos = True
 
     # Import scene and robot (Fetch)
-    scene = Scene()
-    og.sim.import_scene(scene)
-
-    # Update the viewer camera's pose so that it points towards the robot
-    og.sim.viewer_camera.set_position_orientation(
-        position=np.array([4.32248, -5.74338, 6.85436]),
-        orientation=np.array([0.39592, 0.13485, 0.29286, 0.85982]),
-    )
-
+    scene_cfg = {"type": "Scene"}
     # Create Fetch robot
     # Note that since we only care about IK functionality, we fix the base (this also makes the robot more stable)
     # (any object can also have its fixed_base attribute set to True!)
     # Note that since we're going to be setting joint position targets, we also need to make sure the robot's arm joints
     # (which includes the trunk) are being controlled using joint positions
-    robot = Fetch(
-        prim_path="/World/robot",
-        name="robot",
-        fixed_base=True,
-        controller_config={
+    robot_cfg = {
+        "type": "Fetch",
+        "fixed_base": True,
+        "controller_config": {
             "arm_0": {
-                "name": "JointController",
+                "name": "NullJointController",
                 "motor_type": "position",
             }
         }
+    }
+    cfg = dict(scene=scene_cfg, robots=[robot_cfg])
+    env = og.Environment(configs=cfg)
+
+    # Update the viewer camera's pose so that it points towards the robot
+    og.sim.viewer_camera.set_position_orientation(
+        position=np.array([4.32248, -5.74338, 6.85436]),
+        orientation=np.array([0.39592, 0.13485, 0.29286, 0.85982]),
     )
-    og.sim.import_object(robot)
+
+    robot = env.robots[0]
 
     # Set robot base at the origin
     robot.set_position_orientation(np.array([0, 0, 0]), np.array([0, 0, 0, 1]))
@@ -73,6 +73,9 @@ def main(random_selection=False, headless=False, short_exec=False):
     og.sim.step()
     # Make sure none of the joints are moving
     robot.keep_still()
+    # Since this demo aims to showcase how users can directly control the robot with IK, 
+    # we will need to disable the built-in controllers in OmniGibson
+    robot.control_enabled = False
 
     # Create the IK solver -- note that we are controlling both the trunk and the arm since both are part of the
     # controllable kinematic chain for the end-effector!
@@ -91,7 +94,12 @@ def execute_ik(pos, quat=None, max_iter=100):
         joint_pos = ik_solver.solve(
             target_pos=pos,
             target_quat=quat,
+            tolerance_pos=0.002,
+            tolerance_quat=0.01,
+            weight_pos=20.0,
+            weight_quat=0.05,
             max_iterations=max_iter,
+            initial_joint_pos=robot.get_joint_positions()[control_idx],
         )
         if joint_pos is not None:
             og.log.info("Solution found. Setting new arm configuration.")
@@ -185,7 +193,7 @@ def print_message():
     print("Move the marker to a desired position to query IK and press ENTER")
     print("W/S: move marker further away or closer to the robot")
     print("A/D: move marker to the left or the right of the robot")
-    print("T/G: move marker up and down")
+    print("UP/DOWN: move marker up and down")
     print("ESC: quit")
 
 

omnigibson/examples/robots/all_robots_visualizer.py

@@ -57,6 +57,8 @@ def main(random_selection=False, headless=False, short_exec=False):
         # Then apply random actions for a bit
         for _ in range(30):
             action = np.random.uniform(-1, 1, robot.action_dim)
+            if robot_name == "Tiago":
+                action[robot.base_action_idx] = np.random.uniform(-0.1, 0.1, len(robot.base_action_idx))
             for _ in range(10):
                 env.step(action)
 

omnigibson/object_states/__init__.py

@@ -20,10 +20,12 @@
 from omnigibson.object_states.overlaid import Overlaid
 from omnigibson.object_states.particle_modifier import ParticleRemover, ParticleApplier
 from omnigibson.object_states.particle_source_or_sink import ParticleSource, ParticleSink
+from omnigibson.object_states.particle import ParticleRequirement
 from omnigibson.object_states.pose import Pose
 from omnigibson.object_states.robot_related_states import IsGrasping, ObjectsInFOVOfRobot
 from omnigibson.object_states.saturated import Saturated
 from omnigibson.object_states.slicer_active import SlicerActive
+from omnigibson.object_states.sliceable import SliceableRequirement
 from omnigibson.object_states.temperature import Temperature
 from omnigibson.object_states.toggle import ToggledOn
 from omnigibson.object_states.touching import Touching

omnigibson/object_states/attached_to.py

@@ -27,8 +27,8 @@
 m.DEFAULT_POSITION_THRESHOLD = 0.05  # 5cm
 m.DEFAULT_ORIENTATION_THRESHOLD = np.deg2rad(5.0)  # 5 degrees
 m.DEFAULT_JOINT_TYPE = JointType.JOINT_FIXED
-m.DEFAULT_BREAK_FORCE = 10000  # Newton
-m.DEFAULT_BREAK_TORQUE = 10000  # Newton-Meter
+m.DEFAULT_BREAK_FORCE = 1000  # Newton
+m.DEFAULT_BREAK_TORQUE = 1000  # Newton-Meter
 
 
 class AttachedTo(RelativeObjectState, BooleanStateMixin, ContactSubscribedStateMixin, JointBreakSubscribedStateMixin, LinkBasedStateMixin):