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[WIP] Always enable GPU dynamics & Flatcache + support for both CPU & GPU pipeline #853

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b53f444
Initial implementation of cloth view
cgokmen Aug 19, 2024
2ef872f
Merge branch 'og-develop' into cloth-view
cgokmen Aug 19, 2024
aab7219
Minor fixes
hang-yin Aug 21, 2024
660467a
Some more fixes
hang-yin Aug 21, 2024
cc4de91
Merge branch 'og-develop' of https://github.com/StanfordVL/OmniGibson…
hang-yin Aug 21, 2024
506de18
ParticleView
hang-yin Aug 21, 2024
fc4321c
Fix xformprim and franka bugs
wensi-ai Aug 21, 2024
758315d
Some tensor device fixes
hang-yin Aug 22, 2024
6d65210
Merge branch 'torch-follow-up' of https://github.com/StanfordVL/OmniG…
hang-yin Aug 22, 2024
0e85d1d
Fix joint controller
hang-yin Aug 23, 2024
1629b8c
Fix some device problems
hang-yin Aug 26, 2024
cba26b3
Merge branch 'og-develop' of https://github.com/StanfordVL/OmniGibson…
hang-yin Aug 26, 2024
e35d0bc
Tweek controllers to minimize gpu-cpu sync
hang-yin Aug 27, 2024
6eb723a
Minor fix
hang-yin Aug 27, 2024
e686b39
Refactor controller limit to avoid cpu-gpu sync
hang-yin Aug 28, 2024
4777b5c
More work on minimizing cpu-gpu sync
hang-yin Aug 28, 2024
903963b
Small fix
hang-yin Aug 30, 2024
310e172
Small fix
hang-yin Aug 30, 2024
a8ba9c1
cache some properties for speed
hang-yin Sep 3, 2024
2f102e7
Fix folded unfolded demo with cloth view
hang-yin Sep 5, 2024
01b5bc7
Remove most flatcache and gpu dynamics flags
hang-yin Sep 5, 2024
8d92863
More tensor device fixes
hang-yin Sep 6, 2024
760da56
Merge branch 'og-develop' of https://github.com/StanfordVL/OmniGibson…
hang-yin Sep 11, 2024
43ec4dc
profiling import fix
hang-yin Sep 11, 2024
a2b3f5d
Small fix
hang-yin Sep 11, 2024
a3a5190
Allow cloth prim in cpu pipeline
hang-yin Sep 12, 2024
618476e
Test fixes
hang-yin Sep 12, 2024
ebd0419
Fix cloth prim default positions
hang-yin Sep 12, 2024
1ef6a33
Minor controller fixes
hang-yin Sep 12, 2024
017f413
Temporary fix
hang-yin Sep 13, 2024
4619040
Fix particle requirement
hang-yin Sep 13, 2024
0a93204
Fix data collection type mismatch
hang-yin Sep 13, 2024
a92a135
Refactor tests to run both cpu and gpu modes
hang-yin Sep 14, 2024
08987be
Refactor toggle on test to use primitives IK
hang-yin Sep 14, 2024
ccb37b6
Minor fix
hang-yin Sep 14, 2024
ea676b1
Run both cpu and gpu pipeline tests on CI
hang-yin Sep 14, 2024
ee46579
Fix github test workflow
hang-yin Sep 14, 2024
5d3b11b
Merge branch 'og-develop' of https://github.com/StanfordVL/OmniGibson…
hang-yin Sep 16, 2024
92fb71a
Some bug fixes
hang-yin Sep 17, 2024
8472e29
Fix controller test
hang-yin Sep 17, 2024
5489c24
Minor fixes
hang-yin Sep 17, 2024
196143c
Fix gpu pipeline set velocities warning
hang-yin Sep 17, 2024
f69758c
Merge branch 'og-develop' into cloth-view
cgokmen Dec 4, 2024
499a450
Disable all the things
cgokmen Dec 4, 2024
e3e938b
Convert dof_idx to list for proper indexing into tensor
cgokmen Dec 11, 2024
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ParticleView
hang-yin committed Aug 21, 2024
commit 506de184d98b90518ee7b12af44995ec68080eed
3 changes: 3 additions & 0 deletions omnigibson/examples/object_states/overlaid_demo.py
Original file line number Diff line number Diff line change
@@ -21,6 +21,9 @@ def main(random_selection=False, headless=False, short_exec=False):

# Create the scene config to load -- empty scene + custom cloth object + custom rigid object
cfg = {
"env": {
"device": "cuda",
},
"scene": {
"type": "Scene",
},
2 changes: 1 addition & 1 deletion omnigibson/prims/cloth_prim.py
Original file line number Diff line number Diff line change
@@ -96,7 +96,7 @@ def _post_load(self):
self._n_particles = len(self._prim.GetAttribute("points").Get())

# Load the cloth prim view
self._cloth_prim_view = RetensorClothPrimView(self._prim_path)
self._cloth_prim_view = lazy.omni.isaac.core.prims.ClothPrimView(self.prim_path)

# Sample mesh keypoints / keyvalues and sanity check the AABB of these subsampled points vs. the actual points
success = False