Merge branch 'og-develop' into fix-primitives-2

omnigibson/objects/light_object.py

@@ -1,4 +1,3 @@
-from omnigibson.utils.sim_utils import meets_minimum_isaac_version
 import omnigibson as og
 import omnigibson.lazy as lazy
 from omnigibson.objects.stateful_object import StatefulObject
@@ -156,7 +155,7 @@ def radius(self):
         Returns:
             float: radius for this light
         """
-        return self._light_link.get_attribute("inputs:radius" if meets_minimum_isaac_version("2023.0.0") else "radius")
+        return self._light_link.get_attribute("inputs:radius")
 
     @radius.setter
     def radius(self, radius):
@@ -166,7 +165,7 @@ def radius(self, radius):
         Args:
             radius (float): radius to set
         """
-        self._light_link.set_attribute("inputs:radius" if meets_minimum_isaac_version("2023.0.0") else "radius", radius)
+        self._light_link.set_attribute("inputs:radius", radius)
 
     @property
     def intensity(self):
@@ -176,8 +175,7 @@ def intensity(self):
         Returns:
             float: intensity for this light
         """
-        return self._light_link.get_attribute(
-            "inputs:intensity" if meets_minimum_isaac_version("2023.0.0") else "intensity")
+        return self._light_link.get_attribute("inputs:intensity")
 
     @intensity.setter
     def intensity(self, intensity):
@@ -188,7 +186,7 @@ def intensity(self, intensity):
             intensity (float): intensity to set
         """
         self._light_link.set_attribute(
-            "inputs:intensity" if meets_minimum_isaac_version("2023.0.0") else "intensity",
+            "inputs:intensity",
             intensity)
 
     @property
@@ -199,8 +197,7 @@ def color(self):
         Returns:
             float: color for this light
         """
-        return tuple(float(x) for x in self._light_link.get_attribute(
-            "inputs:color" if meets_minimum_isaac_version("2023.0.0") else "color"))
+        return tuple(float(x) for x in self._light_link.get_attribute("inputs:color"))
 
     @color.setter
     def color(self, color):
@@ -211,7 +208,7 @@ def color(self, color):
             color ([float, float, float]): color to set, each value in range [0, 1]
         """
         self._light_link.set_attribute(
-            "inputs:color" if meets_minimum_isaac_version("2023.0.0") else "color",
+            "inputs:color",
             lazy.pxr.Gf.Vec3f(color))
 
     @property
@@ -222,8 +219,7 @@ def texture_file_path(self):
         Returns:
             str: texture file path for this light
         """
-        return str(self._light_link.get_attribute(
-            "inputs:texture:file" if meets_minimum_isaac_version("2023.0.0") else "texture:file"))
+        return str(self._light_link.get_attribute("inputs:texture:file"))
 
     @texture_file_path.setter
     def texture_file_path(self, texture_file_path):
@@ -234,7 +230,7 @@ def texture_file_path(self, texture_file_path):
             texture_file_path (str): path of texture file that should be used for this light
         """
         self._light_link.set_attribute(
-            "inputs:texture:file" if meets_minimum_isaac_version("2023.0.0") else "texture:file",
+            "inputs:texture:file",
             lazy.pxr.Sdf.AssetPath(texture_file_path))
 
 

omnigibson/simulator.py

@@ -76,6 +76,8 @@ def _launch_app():
     with launch_context(None):
         app = lazy.omni.isaac.kit.SimulationApp(config_kwargs)
 
+    assert meets_minimum_isaac_version("2023.1.1"), "This version of OmniGibson supports Isaac Sim 2023.1.1 and above. Please update Isaac Sim."
+
     # Omni overrides the global logger to be DEBUG, which is very annoying, so we re-override it to the default WARN
     # TODO: Remove this once omniverse fixes it
     logging.getLogger().setLevel(logging.WARNING)
@@ -314,11 +316,7 @@ def _set_physics_engine_settings(self):
             # default collide with each other, and modify settings for speed optimization
             self._physics_context.set_invert_collision_group_filter(False)
             self._physics_context.enable_ccd(gm.ENABLE_CCD)
-
-            if meets_minimum_isaac_version("2023.0.0"):
-                self._physics_context.enable_fabric(gm.ENABLE_FLATCACHE)
-            else:
-                self._physics_context.enable_flatcache(gm.ENABLE_FLATCACHE)
+            self._physics_context.enable_fabric(gm.ENABLE_FLATCACHE)
 
             # Enable GPU dynamics based on whether we need omni particles feature
             if gm.USE_GPU_DYNAMICS:
@@ -1219,8 +1217,7 @@ def _open_new_stage(self):
 
             # Clear physics context
             self._physics_context = None
-            if meets_minimum_isaac_version("2023.0.0"):
-                self._physx_fabric_interface = None
+            self._physx_fabric_interface = None
 
             # Create world prim
             self.stage.DefinePrim("/World", "Xform")

omnigibson/utils/control_utils.py

@@ -5,7 +5,6 @@
 import numpy as np
 from numba import jit
 import omnigibson.utils.transform_utils as T
-from omnigibson.utils.sim_utils import meets_minimum_isaac_version
 
 class FKSolver:
     """
@@ -116,14 +115,9 @@ def solve(
         self.config.position_tolerance = tolerance_pos
         self.config.orientation_tolerance = 100.0 if target_quat is None else tolerance_quat
 
-        if meets_minimum_isaac_version("2023.0.0"):
-            self.config.ccd_position_weight = weight_pos
-            self.config.ccd_orientation_weight = 0.0 if target_quat is None else weight_quat
-            self.config.max_num_descents = max_iterations
-        else:
-            self.config.position_weight = weight_pos
-            self.config.orientation_weight = 0.0 if target_quat is None else weight_quat
-            self.config.max_iterations_per_descent = max_iterations
+        self.config.ccd_position_weight = weight_pos
+        self.config.ccd_orientation_weight = 0.0 if target_quat is None else weight_quat
+        self.config.max_num_descents = max_iterations
 
         # Compute target joint positions
         ik_results = lazy.lula.compute_ik_ccd(self.kinematics, ik_target_pose, self.eef_name, self.config)

omnigibson/utils/deprecated_utils.py

@@ -77,42 +77,7 @@ def __init__(self, prim_type: str, **kwargs):
         assert isinstance(self._evaluator_class, type)
 
 
-class Utils2022(OmniUtils):
-    """
-    Subclass that overrides a specific function within Omni's Utils class to fix a bug
-    """
-    def create_material(self, name):
-        # TODO: THIS IS THE ONLY LINE WE CHANGE! "/" SHOULD BE ""
-        material_path = ""
-        default_prim = self.stage.GetDefaultPrim()
-        if default_prim:
-            material_path = default_prim.GetPath().pathString
-
-        if not self.stage.GetPrimAtPath(material_path + "/Looks"):
-            self.stage.DefinePrim(material_path + "/Looks", "Scope")
-        material_path += "/Looks/" + name
-        material_path = ou.get_stage_next_free_path(
-            self.stage, material_path, False
-        )
-        material = UsdShade.Material.Define(self.stage, material_path)
-
-        shader_path = material_path + "/Shader"
-        shader = UsdShade.Shader.Define(self.stage, shader_path)
-
-        # Update Neuraylib MDL search paths
-        import omni.particle.system.core as core
-        core.update_mdl_search_paths()
-
-        shader.SetSourceAsset(name + ".mdl", "mdl")
-        shader.SetSourceAssetSubIdentifier(name, "mdl")
-        shader.GetImplementationSourceAttr().Set(UsdShade.Tokens.sourceAsset)
-        shader.CreateOutput("out", Sdf.ValueTypeNames.Token)
-        material.CreateSurfaceOutput().ConnectToSource(shader, "out")
-
-        return [material_path]
-
-
-class Utils2023(OmniUtils):
+class Utils(OmniUtils):
     def create_material(self, name):
         material_url = carb.settings.get_settings().get("/exts/omni.particle.system.core/material")
 
@@ -143,8 +108,7 @@ class Core(OmniCore):
     """
     def __init__(self, popup_callback: Callable[[str], None], particle_system_name: str):
         self._popup_callback = popup_callback
-        from omnigibson.utils.sim_utils import meets_minimum_isaac_version
-        self.utils = Utils2023() if meets_minimum_isaac_version("2023.0.0") else Utils2022()
+        self.utils = Utils()
         self.context = ou.get_context()
         self.stage = self.context.get_stage()
         self.selection = self.context.get_selection()