Merge pull request #99 from StanfordVL/og-develop

Release 0.0.4

docker/Dockerfile

@@ -1,4 +1,4 @@
-FROM nvcr.io/nvidia/isaac-sim:2022.1.1
+FROM nvcr.io/nvidia/isaac-sim:2022.2.0
 
 # Set up all the prerequisites.
 RUN apt-get update && apt-get install -y \

docs/getting_started/quickstart.md

@@ -192,9 +192,10 @@ obs, rew, done, info = env.step(env.action_space.sample())
             "name": "brilliant_light",
             "light_type": "Sphere",
             "intensity": 50000,
-            "radius": 0.1
+            "radius": 0.1,
             "position": [3.0, 3.0, 4.0],
         },
+    ]
 
     # Define robots
     cfg["robots"] = [

omnigibson/__init__.py

@@ -15,7 +15,7 @@
 import nest_asyncio
 nest_asyncio.apply()
 
-__version__ = "0.0.1"
+__version__ = "0.0.4"
 
 logging.getLogger().setLevel(logging.INFO)
 
@@ -73,31 +73,59 @@
 # whether to enable debugging mode for object sampling
 debug_sampling = False
 
-# Finally, we must create the omnigibson application
-from omnigibson.app_omni import OmniApp
+# Initialize global variables
+app = None  # (this is a singleton so it's okay that it's global)
+sim = None  # (this is a singleton so it's okay that it's global)
+Environment = None
+REGISTERED_SCENES = None
+REGISTERED_OBJECTS = None
+REGISTERED_ROBOTS = None
+REGISTERED_CONTROLLERS = None
+REGISTERED_TASKS = None
+ALL_SENSOR_MODALITIES = None
 
-# Create app as a global reference so any submodule can access it
-if not (os.getenv("OMNIGIBSON_NO_OMNIVERSE", 'False').lower() in ('true', '1', 't')):
-    app = OmniApp(
-        {
-            "headless": gm.HEADLESS,
-        },
-        debug=gm.DEBUG,
-    )
 
-    # Next import must be simulator
-    sim = None
-    from omnigibson.simulator import Simulator
+# Helper functions for starting omnigibson
+def print_save_usd_warning(_):
+    logging.warning("Exporting individual USDs has been disabled in OG due to copyrights.")
 
-    # Create simulator (this is a singleton so it's okay that it's global)
-    sim = Simulator()
 
+def create_app():
+    global app
+    from omni.isaac.kit import SimulationApp
+    app = SimulationApp({"headless": gm.HEADLESS})
     import omni
-    def print_save_usd_warning(_):
-        logging.warning("Exporting individual USDs has been disabled in OG due to copyrights.")
+
+    # Possibly hide windows if in debug mode
+    if not gm.DEBUG:
+        hide_window_names = ["Console", "Main ToolBar", "Stage", "Layer", "Property", "Render Settings", "Content",
+                             "Flow", "Semantics Schema Editor"]
+        for name in hide_window_names:
+            window = omni.ui.Workspace.get_window(name)
+            if window is not None:
+                window.visible = False
+                app.update()
 
     omni.kit.widget.stage.context_menu.ContextMenu.save_prim = print_save_usd_warning
 
+    return app
+
+
+def create_sim():
+    global sim
+    from omnigibson.simulator import Simulator
+    sim = Simulator()
+    return sim
+
+
+def start():
+    global app, sim, Environment, REGISTERED_SCENES, REGISTERED_OBJECTS, REGISTERED_ROBOTS, REGISTERED_CONTROLLERS, \
+        REGISTERED_TASKS, ALL_SENSOR_MODALITIES
+
+    # First create the app, then create the sim
+    app = create_app()
+    sim = create_sim()
+
     # Import any remaining items we want to access directly from the main omnigibson import
     from omnigibson.envs import Environment
     from omnigibson.scenes import REGISTERED_SCENES
@@ -106,9 +134,17 @@ def print_save_usd_warning(_):
     from omnigibson.controllers import REGISTERED_CONTROLLERS
     from omnigibson.tasks import REGISTERED_TASKS
     from omnigibson.sensors import ALL_SENSOR_MODALITIES
+    return app, sim, Environment, REGISTERED_SCENES, REGISTERED_OBJECTS, REGISTERED_ROBOTS, REGISTERED_CONTROLLERS, \
+        REGISTERED_TASKS, ALL_SENSOR_MODALITIES
+
+
+# Automatically start omnigibson's omniverse backend unless explicitly told not to
+if not (os.getenv("OMNIGIBSON_NO_OMNIVERSE", 'False').lower() in {'true', '1', 't'}):
+    app, sim, Environment, REGISTERED_SCENES, REGISTERED_OBJECTS, REGISTERED_ROBOTS, REGISTERED_CONTROLLERS, \
+        REGISTERED_TASKS, ALL_SENSOR_MODALITIES = start()
 
 
-    # Define convenience function for shutting down OmniGibson cleanly
-    def shutdown():
-        app.close()
-        exit(0)
+def shutdown():
+    global app
+    app.close()
+    exit(0)