Merge pull request #339 from StanfordVL/cloth-prim-view

Fix some bugs in cloth generation

omnigibson/systems/micro_particle_system.py

@@ -1,3 +1,4 @@
+import uuid
 import omnigibson as og
 from omnigibson.macros import gm, create_module_macros
 from omnigibson.prims.prim_base import BasePrim
@@ -43,6 +44,7 @@
 
 # TODO: Tune these default values!
 # TODO (eric): figure out whether one offset can fit all
+m.MAX_CLOTH_PARTICLES = 20000  # Comes from a limitation in physx - do not increase
 m.CLOTH_PARTICLE_CONTACT_OFFSET = 0.0075
 m.CLOTH_REMESHING_ERROR_THRESHOLD = 0.05
 m.CLOTH_STRETCH_STIFFNESS = 10000.0
@@ -1540,44 +1542,58 @@ def clothify_mesh_prim(cls, mesh_prim, remesh=True, particle_distance=None):
             # we convert our mesh into a trimesh mesh, then export it to a temp file, then load it into pymeshlab
             tm = mesh_prim_to_trimesh_mesh(mesh_prim=mesh_prim, include_normals=True, include_texcoord=True)
             # Tmp file written to: {tmp_dir}/{tmp_fname}/{tmp_fname}.obj
-            tmp_name = f"{mesh_prim.GetName()}_{datetime.datetime.now().strftime('%Y-%m-%d_%H-%M-%S')}"
+            tmp_name = str(uuid.uuid4())
             tmp_dir = os.path.join(tempfile.gettempdir(), tmp_name)
             tmp_fpath = os.path.join(tmp_dir, f"{tmp_name}.obj")
             Path(tmp_dir).mkdir(parents=True, exist_ok=True)
             tm.export(tmp_fpath)
-            ms = pymeshlab.MeshSet()
-            ms.load_new_mesh(tmp_fpath)
 
-            # Re-mesh based on @particle_distance - distance chosen such that at rest particles should be just touching
-            # each other. The 1.5 magic number comes from the particle cloth demo from omni
-            # Note that this means that the particles will overlap with each other, since at dist = 2 * contact_offset
-            # the particles are just touching each other at rest
+            # Start with the default particle distance
             particle_distance = cls.particle_contact_offset * 2 / (1.5 * np.mean(mesh_prim.GetAttribute("xformOp:scale").Get())) \
                 if particle_distance is None else particle_distance
-            avg_edge_percentage_mismatch = 1.0
-            iters = 0
-            # Loop re-meshing until average edge percentage is within error threshold or we reach the max number of tries
-            while avg_edge_percentage_mismatch > m.CLOTH_REMESHING_ERROR_THRESHOLD:
-                ms.meshing_isotropic_explicit_remeshing(iterations=5, targetlen=pymeshlab.AbsoluteValue(particle_distance))
-                avg_edge_percentage_mismatch = abs(1.0 - particle_distance / ms.get_geometric_measures()["avg_edge_length"])
-                iters += 1
-                if iters > 5:
+
+            # Repetitively re-mesh at lower resolution until we have a mesh that has less than MAX_CLOTH_PARTICLES vertices
+            for _ in range(3):
+                ms = pymeshlab.MeshSet()
+                ms.load_new_mesh(tmp_fpath)
+
+                # Re-mesh based on @particle_distance - distance chosen such that at rest particles should be just touching
+                # each other. The 1.5 magic number comes from the particle cloth demo from omni
+                # Note that this means that the particles will overlap with each other, since at dist = 2 * contact_offset
+                # the particles are just touching each other at rest
+
+                avg_edge_percentage_mismatch = 1.0
+                # Loop re-meshing until average edge percentage is within error threshold or we reach the max number of tries
+                for _ in range(5):
+                    if avg_edge_percentage_mismatch <= m.CLOTH_REMESHING_ERROR_THRESHOLD:
+                        break
+
+                    ms.meshing_isotropic_explicit_remeshing(iterations=5, targetlen=pymeshlab.AbsoluteValue(particle_distance))
+                    avg_edge_percentage_mismatch = abs(1.0 - particle_distance / ms.get_geometric_measures()["avg_edge_length"])
+                else:
                     # Terminate anyways, but don't fail
                     log.warn("The generated cloth may not have evenly distributed particles.")
+
+                # Check if we have too many vertices
+                cm = ms.current_mesh()
+                if cm.vertex_number() > m.MAX_CLOTH_PARTICLES:
+                    # We have too many vertices, so we will re-mesh again
+                    particle_distance *= np.sqrt(2)  # halve the number of vertices
+                else:
                     break
+            else:
+                raise ValueError(f"Could not remesh with less than MAX_CLOTH_PARTICLES ({m.MAX_CLOTH_PARTICLES}) vertices!")
 
             # Re-write data to @mesh_prim
-            cm = ms.current_mesh()
             new_face_vertex_ids = cm.face_matrix().flatten()
             new_texcoord = cm.wedge_tex_coord_matrix()
-            new_vertices = cm.vertex_matrix()[new_face_vertex_ids]
-            new_normals = cm.vertex_normal_matrix()[new_face_vertex_ids]
-            n_vertices = len(new_vertices)
+            new_vertices = cm.vertex_matrix()
+            new_normals = cm.vertex_normal_matrix()
             n_faces = len(cm.face_matrix())
 
             mesh_prim.GetAttribute("faceVertexCounts").Set(np.ones(n_faces, dtype=int) * 3)
             mesh_prim.GetAttribute("points").Set(Vt.Vec3fArray.FromNumpy(new_vertices))
-            mesh_prim.GetAttribute("faceVertexIndices").Set(np.arange(n_vertices))
+            mesh_prim.GetAttribute("faceVertexIndices").Set(new_face_vertex_ids)
             mesh_prim.GetAttribute("normals").Set(Vt.Vec3fArray.FromNumpy(new_normals))
             mesh_prim.GetAttribute("primvars:st").Set(Vt.Vec2fArray.FromNumpy(new_texcoord))
 

omnigibson/utils/usd_utils.py

@@ -768,7 +768,7 @@ def sample_mesh_keypoints(mesh_prim, n_keypoints, n_keyfaces, seed=None):
     n_vertices = len(faces_flat)
 
     # Sample vertices
-    unique_vertices = np.unique(faces_flat, return_index=True)[1]
+    unique_vertices = np.unique(faces_flat)
     assert len(unique_vertices) == n_unique_vertices
     keypoint_idx = np.random.choice(unique_vertices, size=n_keypoints, replace=False) if \
         n_unique_vertices > n_keypoints else unique_vertices