some fixes

examples/configs/jr2_reaching.yaml

@@ -10,6 +10,7 @@ arm_velocity: 0.01
 
 # task, observation and action
 task: reaching # pointgoal|objectgoal|areagoal|reaching
+fisheye: false
 
 initial_pos: [-1.0, -1.0, 0.0]
 initial_orn: [0.0, 0.0, 0.0]

examples/configs/jr_interactive_nav.yaml

@@ -10,6 +10,7 @@ arm_velocity: 0.01
 
 # task, observation and action
 task: pointgoal # pointgoal|objectgoal|areagoal|reaching
+fisheye: false
 
 initial_pos: [0, -5, 0.0]
 initial_orn: [0.0, 0.0, 0.0]

examples/configs/turtlebot_p2p_nav.yaml

@@ -9,6 +9,7 @@ velocity: 0.1
 
 # task, observation and action
 task: pointgoal # pointgoal|objectgoal|areagoal|reaching
+fisheye: false
 
 initial_pos: [-1.0, -1.0, 0.0]
 initial_orn: [0.0, 0.0, 0.0]

examples/configs/turtlebot_p2p_nav_deterministic.yaml

@@ -9,6 +9,7 @@ velocity: 0.1
 
 # task, observation and action
 task: pointgoal # pointgoal|objectgoal|areagoal|reaching
+fisheye: false
 
 initial_pos: [-1.0, -1.0, 0.0]
 initial_orn: [0.0, 0.0, 0.0]

examples/configs/turtlebot_p2p_nav_house.yaml

@@ -8,6 +8,7 @@ velocity: 0.1
 
 # task, observation and action
 task: pointgoal # pointgoal|objectgoal|areagoal|reaching
+fisheye: false
 
 initial_pos: [-1.0, -1.0, 0.0]
 initial_orn: [0.0, 0.0, 0.0]

examples/ros/gibson2-ros/launch/turtlebot_gt_navigation.launch

@@ -12,7 +12,7 @@
 
   <node name="turtlebot_gibson_sim" pkg="gibson2-ros" type="turtlebot_rgbd.py" output="screen">
   </node>
-
+  
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
     <param name="publish_frequency" type="double" value="5.0" />
   </node>

examples/ros/gibson2-ros/turtlebot_rgbd.py

@@ -5,7 +5,8 @@ import rospy
 from std_msgs.msg import Float32, Int64, Header
 from geometry_msgs.msg import Twist
 from sensor_msgs import point_cloud2 as pc2
-from sensor_msgs.msg import Image, CameraInfo, PointCloud2
+from sensor_msgs.msg import CameraInfo, PointCloud2
+from sensor_msgs.msg import Image as ImageMsg
 from nav_msgs.msg import Odometry
 import rospkg
 import numpy as np
@@ -24,11 +25,11 @@ class SimNode:
 
         self.cmdx = 0.0
         self.cmdy = 0.0
-        self.image_pub = rospy.Publisher("/gibson_ros/camera/rgb/image",Image, queue_size=10)
-        self.depth_pub = rospy.Publisher("/gibson_ros/camera/depth/image",Image, queue_size=10)
+        self.image_pub = rospy.Publisher("/gibson_ros/camera/rgb/image",ImageMsg, queue_size=10)
+        self.depth_pub = rospy.Publisher("/gibson_ros/camera/depth/image",ImageMsg, queue_size=10)
         self.lidar_pub = rospy.Publisher("/gibson_ros/lidar/points", PointCloud2, queue_size=10)
 
-        self.depth_raw_pub = rospy.Publisher("/gibson_ros/camera/depth/image_raw",Image, queue_size=10)
+        self.depth_raw_pub = rospy.Publisher("/gibson_ros/camera/depth/image_raw",ImageMsg, queue_size=10)
         self.odom_pub = rospy.Publisher("/odom",Odometry, queue_size=10)
         self.gt_odom_pub = rospy.Publisher("/ground_truth_odom", Odometry, queue_size=10)
 
@@ -92,6 +93,7 @@ class SimNode:
             self.lidar_pub.publish(lidar_message)
 
             # odometry
+            self.env.robots[0].calc_state()
 
             odom = [np.array(self.env.robots[0].body_xyz) - np.array(self.env.config["initial_pos"]),
                     np.array(self.env.robots[0].body_rpy)]
@@ -134,8 +136,6 @@ class SimNode:
             gt_odom_msg.twist.twist.angular.z = (self.cmdy - self.cmdx) * 5 * 8.695652173913043
             self.gt_odom_pub.publish(gt_odom_msg)
 
-        rospy.spin()
-
     def cmd_callback(self,data):
         self.cmdx = data.linear.x/10.0 - data.angular.z / (10*8.695652173913043)
         self.cmdy = data.linear.x/10.0 + data.angular.z / (10*8.695652173913043)

examples/ros/gibson2-ros/turtlebot_rgbd.yaml

@@ -20,7 +20,7 @@ dist_tol: 0.5
 terminal_reward: 5000
 discount_factor: 1.0
 
-additional_states_dim: 5
+additional_states_dim: 3
 
 fisheye: true
 fov: 1.57
@@ -52,3 +52,7 @@ speed:
 mode: web_ui #gui|headless
 verbose: false
 fast_lq_render: true
+
+# visual objects
+visual_object_at_initial_target_pos: true
+target_visual_object_visible_to_agent: true

gibson2/core/simulator.py

@@ -18,7 +18,7 @@ class Simulator:
         p.setGravity(0, 0, -self.gravity)
 
         # renderer
-        self.renderer = MeshRenderer(width=resolution, height=resolution, device_idx=device_idx)
+        self.renderer = MeshRenderer(width=resolution, height=resolution, device_idx=device_idx, use_fisheye=use_fisheye)
         self.resolution = resolution
         self.device_idx = device_idx
         self.renderer.set_fov(90)
@@ -80,7 +80,7 @@ class Simulator:
         new_object = object.load()
         self.objects.append(new_object)
         for shape in p.getVisualShapeData(new_object):
-            id, _, type, _, filename = shape[:5]
+            id, link_id, type, dimensions, filename, rel_pos, rel_orn, color = shape[:8]
             if type == p.GEOM_MESH:
                 filename = filename.decode('utf-8')
                 print(filename, self.visual_objects)

gibson2/envs/base_env.py

@@ -9,9 +9,9 @@ class BaseEnv(gym.Env):
     '''
     a basic environment, step, observation and reward not implemented
     '''
-    def __init__(self, config_file, mode='headless'):
+    def __init__(self, config_file, mode='headless', device_idx=0):
         self.config = parse_config(config_file)
-        self.simulator = Simulator(mode=mode, use_fisheye=self.config['fisheye'])
+        self.simulator = Simulator(mode=mode, use_fisheye=self.config.get('fisheye', False), device_idx=device_idx)
         if self.config['scene'] == 'stadium':
             scene = StadiumScene()
         elif self.config['scene'] == 'building':
@@ -28,7 +28,10 @@ class BaseEnv(gym.Env):
             robot = Humanoid(self.config)
         elif self.config['robot'] == 'JR2':
             robot = JR2(self.config)
-
+        elif self.config['robot'] == 'JR2_Kinova':
+            robot = JR2_Kinova(self.config)
+        else:
+            print('robot not defined')
         self.scene = scene
         self.robots = [robot]
         for robot in self.robots:

gibson2/envs/locomotor_env.py

@@ -45,6 +45,7 @@ class NavigateEnv(BaseEnv):
         self.physics_timestep = physics_timestep
         self.simulator.set_timestep(physics_timestep)
         self.simulator_loop = int(self.action_timestep / self.simulator.timestep)
+        self.output = self.config['output']
 
         self.sensor_dim = self.robots[0].sensor_dim + self.additional_states_dim
         self.action_dim = self.robots[0].action_dim
@@ -80,8 +81,20 @@ class NavigateEnv(BaseEnv):
         # variable initialization
         self.potential = 1.0
         self.current_step = 0
-        self.max_step = 200
-        self.output = self.config['output']
+        self.current_episode = 0
+
+        self.max_step = self.config.get('max_step', float('inf'))
+
+        self.visual_object_at_initial_target_pos = self.config.get('visual_object_at_initial_target_pos', False)
+        if self.visual_object_at_initial_target_pos:
+            self.initial_pos_vis_obj = VisualObject(rgba_color=[1, 0, 0, 0.5])
+            self.target_pos_vis_obj = VisualObject(rgba_color=[0, 0, 1, 0.5])
+            self.initial_pos_vis_obj.load()
+            if self.config.get('target_visual_object_visible_to_agent', False):
+                self.simulator.import_object(self.target_pos_vis_obj)
+            else:
+                self.target_pos_vis_obj.load()
+
 
     def reload(self, config_file):
         super().reload(config_file)
@@ -135,6 +148,17 @@ class NavigateEnv(BaseEnv):
         self.observation_space = gym.spaces.Dict(observation_space)
         self.action_space = self.robots[0].action_space
 
+        self.visual_object_at_initial_target_pos = self.config.get('visual_object_at_initial_target_pos', False)
+        if self.visual_object_at_initial_target_pos:
+            self.initial_pos_vis_obj = VisualObject(rgba_color=[1, 0, 0, 0.5])
+            self.target_pos_vis_obj = VisualObject(rgba_color=[0, 0, 1, 0.5])
+            self.initial_pos_vis_obj.load()
+            if self.config.get('target_visual_object_visible_to_agent', False):
+                self.simulator.import_object(self.target_pos_vis_obj)
+            else:
+                self.target_pos_vis_obj.load()
+
+
     def get_additional_states(self):
         relative_position = self.target_pos - self.robots[0].get_position()
         # rotate relative position back to body point of view

setup.py

@@ -80,7 +80,7 @@ setup(name='gibson2',
     install_requires=[
             'numpy>=1.10.4',
             'pyglet>=1.2.0',
-            'gym==0.9.4',
+            'gym==0.12',
             'Pillow>=3.3.0',
             'PyYAML>=3.12',
             'numpy>=1.13',

test/goggle.yaml

@@ -13,6 +13,7 @@ initial_pos: [-2.5, -1.0, 0.0]
 
 target_orn: [0.0, 0.0, 0.0]
 target_pos: [-5.0, 3.2, 0.0]
+fisheye: false
 
 is_discrete: false
 additional_states_dim: 3
@@ -39,6 +40,10 @@ random:
 
 output: [sensor, rgb, depth, rgb_filled]
 
+# visual objects
+visual_object_at_initial_target_pos: true
+target_visual_object_visible_to_agent: true
+
 resolution: 256
 fov: 1.57
 

test/test.yaml

@@ -22,10 +22,9 @@ dist_tol: 0.5
 terminal_reward: 5000
 discount_factor: 1.0
 
-additional_states_dim: 5
-
 fov: 1.57
 is_discrete: false
+fisheye: false
 
 debug: true
 # display
@@ -53,3 +52,7 @@ speed:
 mode: web_ui #gui|headless
 verbose: false
 fast_lq_render: true
+
+# visual objects
+visual_object_at_initial_target_pos: true
+target_visual_object_visible_to_agent: true