[WIP] Structured configs

.gitignore

@@ -91,4 +91,5 @@ docs/reference
 site/
 
 # Tests of examples
-tests/tests_of_examples
+tests/tests_of_examples
+.aider*

omnigibson/configs/base_config.py

@@ -0,0 +1,99 @@
+from dataclasses import dataclass, field
+from typing import Optional, List, Dict, Any
+from omegaconf import MISSING
+from omnigibson.configs.robot_config import ControllerConfig
+
+
+@dataclass
+class BaseConfig:
+    """Base configuration class that all other configs inherit from"""
+
+    name: str = MISSING
+
+
+@dataclass
+class BasePrimConfig(BaseConfig):
+    """Base configuration for all prims"""
+
+    relative_prim_path: Optional[str] = None
+    load_config: Dict[str, Any] = field(default_factory=dict)
+
+
+@dataclass
+class EntityConfig(BasePrimConfig):
+    """Configuration for entities"""
+
+    scale: Optional[List[float]] = None
+    visible: bool = True
+    visual_only: bool = False
+    kinematic_only: Optional[bool] = None
+    self_collisions: bool = False
+    prim_type: str = MISSING
+
+
+@dataclass
+class ObjectConfig(EntityConfig):
+    """Configuration for all objects"""
+
+    category: str = "object"
+    fixed_base: bool = False
+    abilities: Dict[str, Dict[str, Any]] = field(default_factory=dict)
+    include_default_states: bool = True
+
+
+@dataclass
+class StatefulObjectConfig(ObjectConfig):
+    """Configuration for stateful objects"""
+
+    abilities: Optional[Dict[str, Dict[str, Any]]] = None
+    include_default_states: bool = True
+
+
+@dataclass
+class USDObjectConfig(StatefulObjectConfig):
+    """Configuration for USD-based objects"""
+
+    usd_path: str = MISSING
+    encrypted: bool = False
+
+
+@dataclass
+class DatasetObjectConfig(StatefulObjectConfig):
+    """Configuration for dataset objects"""
+
+    model: Optional[str] = None
+    dataset_type: str = "BEHAVIOR"
+    bounding_box: Optional[List[float]] = None
+    in_rooms: Optional[List[str]] = None
+    xform_props_pre_loaded: bool = True
+
+
+@dataclass
+class PrimitiveObjectConfig(StatefulObjectConfig):
+    """Configuration for primitive objects"""
+
+    primitive_type: str = MISSING
+    rgba: List[float] = field(default_factory=lambda: [0.5, 0.5, 0.5, 1.0])
+    radius: Optional[float] = None
+    height: Optional[float] = None
+    size: Optional[float] = None
+
+
+@dataclass
+class LightObjectConfig(StatefulObjectConfig):
+    """Configuration for light objects"""
+
+    light_type: str = MISSING
+    radius: float = 1.0
+    intensity: float = 50000.0
+
+
+@dataclass
+class ControllableObjectConfig(StatefulObjectConfig):
+    """Configuration for controllable objects"""
+
+    control_freq: Optional[float] = None
+    action_type: str = "continuous"
+    action_normalize: bool = True
+    reset_joint_pos: Optional[List[float]] = None
+    controllers: Dict[str, ControllerConfig] = field(default_factory=dict)

omnigibson/configs/controller_config.py

@@ -0,0 +1,122 @@
+from dataclasses import dataclass, field
+from typing import Optional, Dict, Any, List, Tuple, Union
+from omegaconf import MISSING
+import torch as th
+
+
+@dataclass
+class BaseControllerConfig:
+    """Base configuration for all controllers"""
+
+    control_freq: float = MISSING
+    control_limits: Dict[str, Any] = MISSING  # Dict with position, velocity, effort limits and has_limit
+    dof_idx: List[int] = MISSING
+    command_input_limits: Optional[Union[str, Tuple[float, float], Tuple[List[float], List[float]]]] = "default"
+    command_output_limits: Optional[Union[str, Tuple[float, float], Tuple[List[float], List[float]]]] = "default"
+
+
+@dataclass
+class JointControllerConfig(BaseControllerConfig):
+    """Configuration for joint controllers"""
+
+    motor_type: str = MISSING  # One of {position, velocity, effort}
+    pos_kp: Optional[float] = None
+    pos_damping_ratio: Optional[float] = None
+    vel_kp: Optional[float] = None
+    use_impedances: bool = False
+    use_gravity_compensation: bool = False
+    use_cc_compensation: bool = True
+    use_delta_commands: bool = False
+    compute_delta_in_quat_space: Optional[List[Tuple[int, int, int]]] = None
+
+
+@dataclass
+class VisionSensorConfig:
+    """Configuration for vision sensors"""
+
+    enabled: bool = True
+    noise_type: Optional[str] = None
+    noise_kwargs: Optional[Dict[str, Any]] = None
+    modalities: Optional[List[str]] = None
+    sensor_kwargs: Dict[str, Any] = field(
+        default_factory=lambda: {
+            "image_height": 128,
+            "image_width": 128,
+        }
+    )
+
+
+@dataclass
+class ScanSensorConfig:
+    """Configuration for scan sensors"""
+
+    enabled: bool = True
+    noise_type: Optional[str] = None
+    noise_kwargs: Optional[Dict[str, Any]] = None
+    modalities: Optional[List[str]] = None
+    sensor_kwargs: Dict[str, Any] = field(
+        default_factory=lambda: {
+            "min_range": 0.05,
+            "max_range": 10.0,
+            "horizontal_fov": 360.0,
+            "vertical_fov": 1.0,
+            "yaw_offset": 0.0,
+            "horizontal_resolution": 1.0,
+            "vertical_resolution": 1.0,
+            "rotation_rate": 0.0,
+            "draw_points": False,
+            "draw_lines": False,
+            "occupancy_grid_resolution": 128,
+            "occupancy_grid_range": 5.0,
+            "occupancy_grid_inner_radius": 0.5,
+            "occupancy_grid_local_link": None,
+        }
+    )
+
+
+@dataclass
+class DifferentialDriveControllerConfig(BaseControllerConfig):
+    """Configuration for differential drive controllers"""
+
+    wheel_radius: float = MISSING
+    wheel_axle_length: float = MISSING
+    wheel_control_idx: List[int] = MISSING  # [left_wheel_idx, right_wheel_idx]
+
+
+@dataclass
+class InverseKinematicsControllerConfig(BaseControllerConfig):
+    """Configuration for inverse kinematics controllers"""
+
+    control_freq: float = MISSING
+    control_limits: Dict[str, Any] = MISSING
+    dof_idx: List[int] = MISSING
+    command_input_limits: Optional[Union[str, Tuple[float, float], Tuple[List[float], List[float]]]] = "default"
+    command_output_limits: Optional[Union[str, Tuple[float, float], Tuple[List[float], List[float]]]] = "default"
+    rest_poses: Optional[th.Tensor] = None
+    position_limits: Optional[Tuple[th.Tensor, th.Tensor]] = None
+    rotation_limits: Optional[Tuple[th.Tensor, th.Tensor]] = None
+    position_gain: float = 1.0
+    rotation_gain: float = 0.5
+    position_threshold: float = 0.005
+    rotation_threshold: float = 0.05
+    num_ik_seeds: int = 10
+    num_ik_solutions: int = 1
+    regularization_weight: float = 0.01
+    collision_checking: bool = True
+
+
+@dataclass
+class MultiFingerGripperControllerConfig(BaseControllerConfig):
+    """Configuration for multi-finger gripper controllers"""
+
+    mode: str = "binary"  # One of {binary, continuous}
+    grasp_thresh: float = 0.5
+    release_thresh: float = -0.5
+
+
+@dataclass
+class SensorConfig:
+    """Configuration for all sensors"""
+
+    VisionSensor: VisionSensorConfig = field(default_factory=VisionSensorConfig)
+    ScanSensor: ScanSensorConfig = field(default_factory=ScanSensorConfig)

omnigibson/configs/env_config.py

@@ -0,0 +1,60 @@
+from dataclasses import dataclass, field
+from typing import List, Optional, Dict, Any
+from omegaconf import MISSING
+
+from omnigibson.configs.object_config import ObjectConfig, RobotConfig
+
+
+@dataclass
+class RenderConfig:
+    viewer_width: int = 1280
+    viewer_height: int = 720
+
+
+@dataclass
+class EnvConfig:
+    action_frequency: int = 60
+    rendering_frequency: int = 60
+    physics_frequency: int = 60
+    device: Optional[str] = None
+    automatic_reset: bool = False
+    flatten_action_space: bool = False
+    flatten_obs_space: bool = False
+    initial_pos_z_offset: float = 0.1
+    external_sensors: Optional[List[Dict[str, Any]]] = None
+
+
+@dataclass
+class SceneConfig:
+    type: str = MISSING
+    model: str = MISSING
+    waypoint_resolution: float = 0.2
+    num_waypoints: int = 10
+    trav_map_resolution: float = 0.1
+    default_erosion_radius: float = 0.0
+    trav_map_with_objects: bool = True
+    scene_instance: Optional[str] = None
+    scene_file: Optional[str] = None
+
+
+@dataclass
+class TaskConfig:
+    type: str = "DummyTask"
+    params: Dict[str, Any] = field(default_factory=dict)
+
+
+@dataclass
+class WrapperConfig:
+    type: Optional[str] = None
+    params: Dict[str, Any] = field(default_factory=dict)
+
+
+@dataclass
+class OmniGibsonConfig:
+    env: EnvConfig = field(default_factory=EnvConfig)
+    render: RenderConfig = field(default_factory=RenderConfig)
+    scene: SceneConfig = field(default_factory=SceneConfig)
+    robots: List[RobotConfig] = field(default_factory=list)
+    objects: List[ObjectConfig] = field(default_factory=list)
+    task: TaskConfig = field(default_factory=TaskConfig)
+    wrapper: WrapperConfig = field(default_factory=WrapperConfig)

omnigibson/configs/object_config.py

@@ -0,0 +1,57 @@
+from dataclasses import dataclass, field
+from typing import Dict, List, Optional, Union
+from omegaconf import MISSING
+
+from omnigibson.configs.base_config import (
+    ObjectConfig,
+    USDObjectConfig,
+    DatasetObjectConfig,
+    PrimitiveObjectConfig,
+    LightObjectConfig,
+    ControllableObjectConfig,
+)
+from omnigibson.configs.robot_config import (
+    ControllerConfig,
+    JointControllerConfig,
+    IKControllerConfig,
+    OSCControllerConfig,
+    DifferentialDriveConfig,
+    GripperControllerConfig,
+)
+from omnigibson.configs.sensor_config import SensorConfig
+
+__all__ = [
+    "ObjectConfig",
+    "USDObjectConfig",
+    "DatasetObjectConfig",
+    "PrimitiveObjectConfig",
+    "LightObjectConfig",
+    "ControllableObjectConfig",
+    "RobotConfig",
+]
+
+
+@dataclass
+class RobotConfig(ControllableObjectConfig):
+    """Configuration for robots"""
+
+    type: str = MISSING
+    obs_modalities: List[str] = field(default_factory=lambda: ["rgb", "proprio"])
+    proprio_obs: str = "default"
+    sensor_config: Optional[SensorConfig] = field(default_factory=SensorConfig)
+    grasping_mode: str = "physical"
+    grasping_direction: str = "lower"
+    disable_grasp_handling: bool = False
+    default_reset_mode: str = "untuck"
+    default_arm_pose: str = "vertical"
+    controllers: Dict[
+        str,
+        Union[
+            ControllerConfig,
+            JointControllerConfig,
+            IKControllerConfig,
+            OSCControllerConfig,
+            DifferentialDriveConfig,
+            GripperControllerConfig,
+        ],
+    ] = field(default_factory=dict)