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update omnigibson installation

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This commit is contained in:
mistyreed63849 2024-12-17 01:44:06 +08:00
parent 4b9be845fe
commit 4f55e04a8b
5 changed files with 5 additions and 7 deletions
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2
docs/detailed_setups/VAB-OmniGibson.md
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@ -32,7 +32,7 @@
docker load -i VAB-OmniGibson-Docker/vab_omnigibson.tar
```
4. Download datasets of OmniGibson, VAB-OmniGibson test activities, and related scene files. Note that about 25 GB data will be downloaded to `data/omnigibson`, and make sure you have access to google drive.
4. Download datasets of OmniGibson, VAB-OmniGibson test activities, and related scene files. Note that about 25 GB data will be downloaded to `data/omnigibson`, and make sure you have access to google drive. During the download process, you will be prompted to accept the OmniGibson user agreement.
```bash
python scripts/omnigibson_download.py

4
scripts/omnigibson_download.py
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@ -68,8 +68,8 @@ def main():
subprocess.run(["rm", "data/omnigibson/datasets/og_assets.tar.gz"])
if os.path.exists("data/omnigibson/datasets/og_dataset/scenes/Beechwood_0_int/json/Beechwood_0_int_best.json"):
subprocess.run(["rm", "-rf", "data/omnigibson/datasets/og_dataset/scenes/*"])
subprocess.run(["mv", "data/omnigibson/vab_omnigibson_scenes/*", "data/omnigibson/datasets/og_dataset/scenes/"])
subprocess.run(["rm", "-rf", "data/omnigibson/datasets/og_dataset/scenes"])
subprocess.run(["cp", "-r", "data/omnigibson/vab_omnigibson_scenes", "data/omnigibson/datasets/og_dataset/scenes"])
print("\n")
print_omniverse_agreement()

2
src/server/tasks/minecraft/task.py
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@ -78,7 +78,7 @@ class Minecraft(Task):
async def main():
available_ports = [11000, 11001, 11002]
available_devices = {"9":6, "1":6, "2":6}
available_devices = {"1":6, "2":6}
data_dir = "data/minecraft"
output_dir = "outputs/minecraft"
max_round = 100

2
src/server/tasks/omnigibson/vab_omnigibson_src/env.py
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@ -345,7 +345,7 @@ class Env(object):
if func == "move" and obj not in self.seen_objs and obj not in self.visible_objs and obj not in self.grasped_obj:
return False, f"Can not move to the object! Object {arg} hasn't seen by the robot."
if func == "move" and obj not in self.visible_objs and obj not in self.grasped_obj and \
self.env.scene._seg_map.get_room_instance_by_point(obj.get_position()[:2]) != self.current_room:
self.env.scene._seg_map.get_room_instance_by_point(obj.get_position()[:2]) != self.current_room and "None" not in self.current_room:
return False, f"Can not move to the object! Object {arg} isn't in the same room with the robot."
arg_objs.append(obj)

2
src/server/tasks/omnigibson/vab_omnigibson_src/utils/actions.py
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@ -446,7 +446,6 @@ def toggle_on(robot, obj):
return False, "Cannot toggle on! Object is not toggleable!"
robot_pos = robot.get_position()
obj_pos = obj.get_position()
dis = distance_to_cuboid(robot_pos, obj.aabb)
if dis > delta:
return False, f"Cannot toggle on! The object is not within reach of the robot!"
@ -464,7 +463,6 @@ def toggle_off(robot, obj):
return False, "Cannot toggle off! Object is not toggleable!"
robot_pos = robot.get_position()
obj_pos = obj.get_position()
dis = distance_to_cuboid(robot_pos, obj.aabb)
if dis > delta:
return False, f"Cannot toggle off! The object is not within reach of the robot!"