add ability to specify sensors to include / exclude, remove enforcing…

… of controller existence due to subsume feature
StanfordVL · Dec 20, 2024 · adf7999 · adf7999
1 parent a1fbadd
commit adf7999
Show file tree

Hide file tree

Showing 14 changed files with 139 additions and 38 deletions.
diff --git a/omnigibson/robots/a1.py b/omnigibson/robots/a1.py
@@ -33,6 +33,8 @@ def __init__(
         reset_joint_pos=None,
         # Unique to BaseRobot
         obs_modalities=("rgb", "proprio"),
+        include_sensor_names=None,
+        exclude_sensor_names=None,
         proprio_obs="default",
         sensor_config=None,
         # Unique to ManipulationRobot
@@ -70,6 +72,12 @@ def __init__(
                 Valid options are "all", or a list containing any subset of omnigibson.sensors.ALL_SENSOR_MODALITIES.
                 Note: If @sensor_config explicitly specifies `modalities` for a given sensor class, it will
                     override any values specified from @obs_modalities!
+            include_sensor_names (None or list of str): If specified, substring(s) to check for in all raw sensor prim
+                paths found on the robot. A sensor must include one of the specified substrings in order to be included
+                in this robot's set of sensors
+            exclude_sensor_names (None or list of str): If specified, substring(s) to check against in all raw sensor
+                prim paths found on the robot. A sensor must not include any of the specified substrings in order to
+                be included in this robot's set of sensors
             proprio_obs (str or list of str): proprioception observation key(s) to use for generating proprioceptive
                 observations. If str, should be exactly "default" -- this results in the default proprioception
                 observations being used, as defined by self.default_proprio_obs. See self._get_proprioception_dict
@@ -128,6 +136,8 @@ def __init__(
             action_normalize=action_normalize,
             reset_joint_pos=reset_joint_pos,
             obs_modalities=obs_modalities,
+            include_sensor_names=include_sensor_names,
+            exclude_sensor_names=exclude_sensor_names,
             proprio_obs=proprio_obs,
             sensor_config=sensor_config,
             grasping_mode=grasping_mode,

diff --git a/omnigibson/robots/active_camera_robot.py b/omnigibson/robots/active_camera_robot.py
@@ -23,17 +23,6 @@ class ActiveCameraRobot(BaseRobot):
 
     """
 
-    def _validate_configuration(self):
-        # Make sure a camera controller is specified
-        assert (
-            "camera" in self._controllers
-        ), "Controller 'camera' must exist in controllers! Current controllers: {}".format(
-            list(self._controllers.keys())
-        )
-
-        # run super
-        super()._validate_configuration()
-
     def _get_proprioception_dict(self):
         dic = super()._get_proprioception_dict()
 

diff --git a/omnigibson/robots/behavior_robot.py b/omnigibson/robots/behavior_robot.py
@@ -80,6 +80,8 @@ def __init__(
         reset_joint_pos=None,
         # Unique to BaseRobot
         obs_modalities="rgb",
+        include_sensor_names=None,
+        exclude_sensor_names=None,
         proprio_obs="default",
         # Unique to ManipulationRobot
         grasping_mode="assisted",
@@ -109,6 +111,8 @@ def __init__(
             action_normalize=action_normalize,
             reset_joint_pos=reset_joint_pos,
             obs_modalities=obs_modalities,
+            include_sensor_names=include_sensor_names,
+            exclude_sensor_names=exclude_sensor_names,
             proprio_obs=proprio_obs,
             grasping_mode=grasping_mode,
             grasping_direction="upper",

diff --git a/omnigibson/robots/fetch.py b/omnigibson/robots/fetch.py
@@ -46,6 +46,8 @@ def __init__(
         reset_joint_pos=None,
         # Unique to BaseRobot
         obs_modalities=("rgb", "proprio"),
+        include_sensor_names=None,
+        exclude_sensor_names=None,
         proprio_obs="default",
         sensor_config=None,
         # Unique to ManipulationRobot
@@ -88,6 +90,12 @@ def __init__(
                 Valid options are "all", or a list containing any subset of omnigibson.sensors.ALL_SENSOR_MODALITIES.
                 Note: If @sensor_config explicitly specifies `modalities` for a given sensor class, it will
                     override any values specified from @obs_modalities!
+            include_sensor_names (None or list of str): If specified, substring(s) to check for in all raw sensor prim
+                paths found on the robot. A sensor must include one of the specified substrings in order to be included
+                in this robot's set of sensors
+            exclude_sensor_names (None or list of str): If specified, substring(s) to check against in all raw sensor
+                prim paths found on the robot. A sensor must not include any of the specified substrings in order to
+                be included in this robot's set of sensors
             proprio_obs (str or list of str): proprioception observation key(s) to use for generating proprioceptive
                 observations. If str, should be exactly "default" -- this results in the default proprioception
                 observations being used, as defined by self.default_proprio_obs. See self._get_proprioception_dict
@@ -126,6 +134,8 @@ def __init__(
             action_normalize=action_normalize,
             reset_joint_pos=reset_joint_pos,
             obs_modalities=obs_modalities,
+            include_sensor_names=include_sensor_names,
+            exclude_sensor_names=exclude_sensor_names,
             proprio_obs=proprio_obs,
             sensor_config=sensor_config,
             grasping_mode=grasping_mode,

diff --git a/omnigibson/robots/franka.py b/omnigibson/robots/franka.py
@@ -34,6 +34,8 @@ def __init__(
         reset_joint_pos=None,
         # Unique to BaseRobot
         obs_modalities=("rgb", "proprio"),
+        include_sensor_names=None,
+        exclude_sensor_names=None,
         proprio_obs="default",
         sensor_config=None,
         # Unique to ManipulationRobot
@@ -72,6 +74,12 @@ def __init__(
                 Valid options are "all", or a list containing any subset of omnigibson.sensors.ALL_SENSOR_MODALITIES.
                 Note: If @sensor_config explicitly specifies `modalities` for a given sensor class, it will
                     override any values specified from @obs_modalities!
+            include_sensor_names (None or list of str): If specified, substring(s) to check for in all raw sensor prim
+                paths found on the robot. A sensor must include one of the specified substrings in order to be included
+                in this robot's set of sensors
+            exclude_sensor_names (None or list of str): If specified, substring(s) to check against in all raw sensor
+                prim paths found on the robot. A sensor must not include any of the specified substrings in order to
+                be included in this robot's set of sensors
             proprio_obs (str or list of str): proprioception observation key(s) to use for generating proprioceptive
                 observations. If str, should be exactly "default" -- this results in the default proprioception
                 observations being used, as defined by self.default_proprio_obs. See self._get_proprioception_dict
@@ -192,6 +200,8 @@ def __init__(
             action_normalize=action_normalize,
             reset_joint_pos=reset_joint_pos,
             obs_modalities=obs_modalities,
+            include_sensor_names=include_sensor_names,
+            exclude_sensor_names=exclude_sensor_names,
             proprio_obs=proprio_obs,
             sensor_config=sensor_config,
             grasping_mode=grasping_mode,

diff --git a/omnigibson/robots/holonomic_base_robot.py b/omnigibson/robots/holonomic_base_robot.py
@@ -56,6 +56,8 @@ def __init__(
         reset_joint_pos=None,
         # Unique to BaseRobot
         obs_modalities=("rgb", "proprio"),
+        include_sensor_names=None,
+        exclude_sensor_names=None,
         proprio_obs="default",
         sensor_config=None,
         **kwargs,
@@ -91,6 +93,12 @@ def __init__(
                 Valid options are "all", or a list containing any subset of omnigibson.sensors.ALL_SENSOR_MODALITIES.
                 Note: If @sensor_config explicitly specifies `modalities` for a given sensor class, it will
                     override any values specified from @obs_modalities!
+            include_sensor_names (None or list of str): If specified, substring(s) to check for in all raw sensor prim
+                paths found on the robot. A sensor must include one of the specified substrings in order to be included
+                in this robot's set of sensors
+            exclude_sensor_names (None or list of str): If specified, substring(s) to check against in all raw sensor
+                prim paths found on the robot. A sensor must not include any of the specified substrings in order to
+                be included in this robot's set of sensors
             proprio_obs (str or list of str): proprioception observation key(s) to use for generating proprioceptive
                 observations. If str, should be exactly "default" -- this results in the default proprioception
                 observations being used, as defined by self.default_proprio_obs. See self._get_proprioception_dict
@@ -119,6 +127,8 @@ def __init__(
             action_normalize=action_normalize,
             reset_joint_pos=reset_joint_pos,
             obs_modalities=obs_modalities,
+            include_sensor_names=include_sensor_names,
+            exclude_sensor_names=exclude_sensor_names,
             proprio_obs=proprio_obs,
             sensor_config=sensor_config,
             **kwargs,

diff --git a/omnigibson/robots/locomotion_robot.py b/omnigibson/robots/locomotion_robot.py
@@ -26,13 +26,11 @@ class LocomotionRobot(BaseRobot):
     """
 
     def _validate_configuration(self):
-        # We make sure that our base controller exists and is a locomotion controller
-        assert (
-            "base" in self._controllers
-        ), "Controller 'base' must exist in controllers! Current controllers: {}".format(list(self._controllers.keys()))
-        assert isinstance(
-            self._controllers["base"], LocomotionController
-        ), "Base controller must be a LocomotionController!"
+        # If we have a base controller, make sure it is a locomotion controller
+        if "base" in self._controllers:
+            assert isinstance(
+                self._controllers["base"], LocomotionController
+            ), "Base controller must be a LocomotionController!"
 
         # run super
         super()._validate_configuration()

diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py
@@ -85,6 +85,8 @@ def __init__(
         reset_joint_pos=None,
         # Unique to BaseRobot
         obs_modalities=("rgb", "proprio"),
+        include_sensor_names=None,
+        exclude_sensor_names=None,
         proprio_obs="default",
         sensor_config=None,
         # Unique to ManipulationRobot
@@ -123,6 +125,12 @@ def __init__(
                 Otherwise, valid options should be part of omnigibson.sensors.ALL_SENSOR_MODALITIES.
                 Note: If @sensor_config explicitly specifies `modalities` for a given sensor class, it will
                     override any values specified from @obs_modalities!
+            include_sensor_names (None or list of str): If specified, substring(s) to check for in all raw sensor prim
+                paths found on the robot. A sensor must include one of the specified substrings in order to be included
+                in this robot's set of sensors
+            exclude_sensor_names (None or list of str): If specified, substring(s) to check against in all raw sensor
+                prim paths found on the robot. A sensor must not include any of the specified substrings in order to
+                be included in this robot's set of sensors
             proprio_obs (str or list of str): proprioception observation key(s) to use for generating proprioceptive
                 observations. If str, should be exactly "default" -- this results in the default proprioception
                 observations being used, as defined by self.default_proprio_obs. See self._get_proprioception_dict
@@ -178,6 +186,8 @@ def __init__(
             action_normalize=action_normalize,
             reset_joint_pos=reset_joint_pos,
             obs_modalities=obs_modalities,
+            include_sensor_names=include_sensor_names,
+            exclude_sensor_names=exclude_sensor_names,
             proprio_obs=proprio_obs,
             sensor_config=sensor_config,
             **kwargs,
@@ -186,25 +196,17 @@ def __init__(
     def _validate_configuration(self):
         # Iterate over all arms
         for arm in self.arm_names:
-            # We make sure that our arm controller exists and is a manipulation controller
-            assert (
-                "arm_{}".format(arm) in self._controllers
-            ), "Controller 'arm_{}' must exist in controllers! Current controllers: {}".format(
-                arm, list(self._controllers.keys())
-            )
-            assert isinstance(
-                self._controllers["arm_{}".format(arm)], ManipulationController
-            ), "Arm {} controller must be a ManipulationController!".format(arm)
-
-            # We make sure that our gripper controller exists and is a gripper controller
-            assert (
-                "gripper_{}".format(arm) in self._controllers
-            ), "Controller 'gripper_{}' must exist in controllers! Current controllers: {}".format(
-                arm, list(self._controllers.keys())
-            )
-            assert isinstance(
-                self._controllers["gripper_{}".format(arm)], GripperController
-            ), "Gripper {} controller must be a GripperController!".format(arm)
+            # If we have an arm controller, make sure it is a manipulation controller
+            if f"arm_{arm}" in self._controllers:
+                assert isinstance(
+                    self._controllers["arm_{}".format(arm)], ManipulationController
+                ), "Arm {} controller must be a ManipulationController!".format(arm)
+
+            # If we have a gripper controller, make sure it is a manipulation controller
+            if f"gripper_{arm}" in self._controllers:
+                assert isinstance(
+                    self._controllers["gripper_{}".format(arm)], GripperController
+                ), "Gripper {} controller must be a GripperController!".format(arm)
 
         # run super
         super()._validate_configuration()

diff --git a/omnigibson/robots/mobile_manipulation_robot.py b/omnigibson/robots/mobile_manipulation_robot.py
@@ -46,6 +46,8 @@ def __init__(
         reset_joint_pos=None,
         # Unique to BaseRobot
         obs_modalities=("rgb", "proprio"),
+        include_sensor_names=None,
+        exclude_sensor_names=None,
         proprio_obs="default",
         sensor_config=None,
         # Unique to ManipulationRobot
@@ -85,6 +87,12 @@ def __init__(
                 Valid options are "all", or a list containing any subset of omnigibson.sensors.ALL_SENSOR_MODALITIES.
                 Note: If @sensor_config explicitly specifies `modalities` for a given sensor class, it will
                     override any values specified from @obs_modalities!
+            include_sensor_names (None or list of str): If specified, substring(s) to check for in all raw sensor prim
+                paths found on the robot. A sensor must include one of the specified substrings in order to be included
+                in this robot's set of sensors
+            exclude_sensor_names (None or list of str): If specified, substring(s) to check against in all raw sensor
+                prim paths found on the robot. A sensor must not include any of the specified substrings in order to
+                be included in this robot's set of sensors
             proprio_obs (str or list of str): proprioception observation key(s) to use for generating proprioceptive
                 observations. If str, should be exactly "default" -- this results in the default proprioception
                 observations being used, as defined by self.default_proprio_obs. See self._get_proprioception_dict
@@ -122,6 +130,8 @@ def __init__(
             action_normalize=action_normalize,
             reset_joint_pos=reset_joint_pos,
             obs_modalities=obs_modalities,
+            include_sensor_names=include_sensor_names,
+            exclude_sensor_names=exclude_sensor_names,
             proprio_obs=proprio_obs,
             sensor_config=sensor_config,
             grasping_mode=grasping_mode,

diff --git a/omnigibson/robots/r1.py b/omnigibson/robots/r1.py
@@ -41,6 +41,8 @@ def __init__(
         reset_joint_pos=None,
         # Unique to BaseRobot
         obs_modalities=("rgb", "proprio"),
+        include_sensor_names=None,
+        exclude_sensor_names=None,
         proprio_obs="default",
         sensor_config=None,
         # Unique to ManipulationRobot
@@ -80,6 +82,12 @@ def __init__(
                 Valid options are "all", or a list containing any subset of omnigibson.sensors.ALL_SENSOR_MODALITIES.
                 Note: If @sensor_config explicitly specifies `modalities` for a given sensor class, it will
                     override any values specified from @obs_modalities!
+            include_sensor_names (None or list of str): If specified, substring(s) to check for in all raw sensor prim
+                paths found on the robot. A sensor must include one of the specified substrings in order to be included
+                in this robot's set of sensors
+            exclude_sensor_names (None or list of str): If specified, substring(s) to check against in all raw sensor
+                prim paths found on the robot. A sensor must not include any of the specified substrings in order to
+                be included in this robot's set of sensors
             proprio_obs (str or list of str): proprioception observation key(s) to use for generating proprioceptive
                 observations. If str, should be exactly "default" -- this results in the default proprioception
                 observations being used, as defined by self.default_proprio_obs. See self._get_proprioception_dict
@@ -114,6 +122,8 @@ def __init__(
             action_normalize=action_normalize,
             reset_joint_pos=reset_joint_pos,
             obs_modalities=obs_modalities,
+            include_sensor_names=include_sensor_names,
+            exclude_sensor_names=exclude_sensor_names,
             proprio_obs=proprio_obs,
             sensor_config=sensor_config,
             grasping_mode=grasping_mode,