New cloth mechanisms, fixes to asset import, new meta link format, and more #1087

cgokmen · 2025-02-04T00:36:55Z

Introduced Yunzhu's group's cloth contributions into the ClothPrim class
Fix issues in asset import
Make asset import compatible with fillable meta links baked into the URDF from previous stages
Update code to make use of new meta link metadata, new names for fields, etc.
Unified the use of the phrase meta link into two words e.g. separated with an underscore for consistent find/replace
torch.compile has a runtime dependency on torch.dynamo which does not seem to work on Windows. It also seems more unstable than we'd like. We also dont have the strict performance requirements on this code anymore. Switching back to JIT.

TODO:

fix init py changes (these break pipeline)
add backwards compatibility with existing dataset formats
fix jitscript errors

…ultiple pieces

for more information, see https://pre-commit.ci

…og-develop

for more information, see https://pre-commit.ci

fix cloth loading problems: caused by non-watertight, and potential multiple pieces

…into no-compile

ChengshuLi

LGTM with some minor comments!

omnigibson/object_states/attached_to.py

omnigibson/prims/geom_prim.py

omnigibson/prims/material_prim.py

omnigibson/prims/rigid_prim.py

omnigibson/utils/asset_conversion_utils.py

omnigibson/prims/cloth_prim.py

Jianghanxiao and others added 6 commits December 24, 2024 20:07

fix cloth loading problems: caused by non-watertight, and potential m…

70fb145

…ultiple pieces

[pre-commit.ci] auto fixes from pre-commit.com hooks

ea8d531

for more information, see https://pre-commit.ci

add the script for squeezing and folding the cloth

bb927b4

Merge branch 'og-develop' of github.com:Jianghanxiao/OmniGibson into …

168e226

…og-develop

[pre-commit.ci] auto fixes from pre-commit.com hooks

57d7f52

for more information, see https://pre-commit.ci

Go back to torch.jit.script

0a88b68

cgokmen requested a review from cremebrule February 4, 2025 00:36

cgokmen and others added 20 commits February 3, 2025 17:09

Small fixes

1503655

More fixes

0bad3ee

More fixes

3f92e6b

More fixes

4799e82

More fixes

4cc028e

Updates to asset conversion

79e8818

Support opacity properly

71f5789

Improve material handling in asset conversion

325b688

Merge branch 'no-compile' into og-develop

6fc9a02

Merge pull request #1063 from Jianghanxiao/og-develop

51bb276

fix cloth loading problems: caused by non-watertight, and potential multiple pieces

Finish implementing cloth prim features

58008ff

Include root-level visuals prim in guide purpose conversion

fbbb09f

Learn new meta link format

b3a75a7

Standardize spelling of meta link

2b9fa6b

Standardize spelling of meta link

92a7684

Fix some issues

9eb10ff

Merge branch 'no-compile' of https://github.com/StanfordVL/OmniGibson …

3fc19c2

…into no-compile

Don't default to default purpose, accept w/e is in the USD

cf40a1e

Fixes to USD conversion

73d4a4c

Merge branch 'no-compile' of https://github.com/StanfordVL/OmniGibson …

7014225

…into no-compile

cgokmen changed the title ~~Don't use torch.compile~~ New cloth mechanisms, fixes to asset import, new meta link format, and more Feb 8, 2025

Merge branch 'og-develop' into no-compile

21ed2b5

cgokmen removed the request for review from cremebrule February 8, 2025 21:10

cgokmen marked this pull request as draft February 8, 2025 21:10

cgokmen added 4 commits February 10, 2025 21:41

Some more fixes

bb7f066

Merge branch 'no-compile' of https://github.com/StanfordVL/OmniGibson …

b471037

…into no-compile

Add backwards compatibility

37261be

Add cloth config demo

923d258

cgokmen requested review from cremebrule and ChengshuLi February 11, 2025 06:15

cgokmen marked this pull request as ready for review February 11, 2025 06:24

cgokmen and others added 5 commits February 11, 2025 12:45

Fix JIT issues

7554626

Small fixes

9200824

Backwards compatibility for cloth too

8bc2362

Fix meta link pattern

383981d

Fix accidental hardcoded input name

b92acf0

ChengshuLi reviewed Feb 12, 2025

View reviewed changes

cgokmen added 2 commits February 12, 2025 01:33

Change prefix to meta link type across classes

247d1e8

Address comments

f13aeb4

ChengshuLi approved these changes Feb 12, 2025

View reviewed changes

cgokmen and others added 7 commits February 13, 2025 12:03

Change reset implementation

eea95d2

Use settled configuration in sampling when available

e03d3ed

Fix velocity issue

ccf015b

Fix weird remeshing behavior

c637235

Re-reduce drag temporarily until meeting

d3ed486

Undo temporary changes since we're reexporting the RC

278e61c

Make velocity reset optional

19770bb

Provide feedback

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New cloth mechanisms, fixes to asset import, new meta link format, and more #1087

New cloth mechanisms, fixes to asset import, new meta link format, and more #1087

cgokmen commented Feb 4, 2025 •

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New cloth mechanisms, fixes to asset import, new meta link format, and more #1087

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New cloth mechanisms, fixes to asset import, new meta link format, and more #1087

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