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unify interactive assets loading

This commit is contained in:
fxia22 2020-04-06 12:02:35 -07:00
parent 98fc2bece6
commit 43784014da
6 changed files with 43 additions and 33 deletions
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4
examples/ros/gibson2-ros/package.xml
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@ -7,13 +7,13 @@
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="fei@todo.todo">fei</maintainer>
<maintainer email="feixia@stanford.edu">Fei Xia</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<license>MIT</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->

44
gibson2/core/physics/scene.py
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@ -75,19 +75,6 @@ class StadiumScene(Scene):
def reset_floor(self, floor=0, additional_elevation=0.05, height=None):
return
# TODO: Merge InteractiveBuildingScene into BuildingScene
class InteractiveBuildingScene(Scene):
"""
A simple stadium scene for debugging
"""
def __init__(self, path):
self.path = path
def load(self):
filename = self.path
body_id = p.loadURDF(filename, flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
return [body_id]
class BuildingScene(Scene):
@ -128,6 +115,7 @@ class BuildingScene(Scene):
self.num_waypoints = num_waypoints
self.waypoint_interval = int(waypoint_resolution / trav_map_resolution)
self.mesh_body_id = None
self.floor_body_ids = []
self.pybullet_load_texture = pybullet_load_texture
def load_floor_metadata(self):
@ -174,7 +162,6 @@ class BuildingScene(Scene):
textureUniqueId=texture_id)
def load_floor_planes(self):
self.floor_body_ids = []
if self.is_interactive:
for f in range(len(self.floors)):
# load the floor plane with the original floor texture for each floor
@ -273,26 +260,37 @@ class BuildingScene(Scene):
self.scene_objects = []
self.scene_objects_pos = []
scene_path = get_model_path(self.model_id)
urdf_files = [item for item in os.listdir(scene_path) if item[-4:] == 'urdf']
urdf_files = [item for item in os.listdir(scene_path) if item[-4:] == 'urdf' and item != 'scene.urdf']
position_files = [item[:-4].replace('alignment_centered', 'pos') + 'txt' for item in urdf_files]
for urdf_file, position_file in zip(urdf_files, position_files):
print('loading urdf file {}'.format(urdf_file))
with open(os.path.join(scene_path, position_file)) as f:
pos = np.array([float(item) for item in f.readlines()[0].strip().split()])
# filter out duplicate annotations for the same object
if len(self.scene_objects_pos) == 0 or \
np.min(np.linalg.norm(np.array(self.scene_objects_pos) - pos, axis=1)) > 0.5:
obj = InteractiveObj(os.path.join(scene_path, urdf_file))
obj.load()
self.scene_objects.append(obj)
self.scene_objects_pos.append(pos)
#if len(self.scene_objects_pos) == 0 or \
# np.min(np.linalg.norm(np.array(self.scene_objects_pos) - pos, axis=1)) > 0.5:
obj = InteractiveObj(os.path.join(scene_path, urdf_file))
obj.load()
self.scene_objects.append(obj)
self.scene_objects_pos.append(pos)
def load_scene_urdf(self):
self.mesh_body_id = p.loadURDF(os.path.join(get_model_path(self.model_id), 'scene.urdf'))
def has_scene_urdf(self):
return os.path.exists(os.path.join(get_model_path(self.model_id), 'scene.urdf'))
def load(self):
"""
Initialize scene
"""
self.load_floor_metadata()
self.load_scene_mesh()
self.load_floor_planes()
if self.has_scene_urdf():
self.load_scene_urdf()
else:
self.load_scene_mesh()
self.load_floor_planes()
self.load_trav_map()
self.load_scene_objects()
self.reset_scene_objects()

5
gibson2/core/simulator.py
View File

@ -184,7 +184,10 @@ class Simulator:
if type == p.GEOM_MESH:
filename = filename.decode('utf-8')
# print(filename, self.visual_objects)
self.renderer.load_object(filename)
self.renderer.load_object(filename,
transform_orn=rel_orn,
transform_pos=rel_pos,
scale=np.array(dimensions))
self.visual_objects[filename] = len(self.renderer.visual_objects) - 1
self.renderer.add_instance(len(self.renderer.visual_objects) - 1,
pybullet_uuid=new_object,

5
gibson2/envs/demo.py
View File

@ -8,11 +8,12 @@ import pybullet as p
import numpy as np
import os
import gibson2
from gibson2.utils.assets_utils import download_data
from gibson2.utils.assets_utils import download_assets,download_demo_data
class Demo(object):
def __init__(self):
download_data()
download_assets()
download_demo_data()
def run_demo(self):
config = parse_config(os.path.join(gibson2.assets_path, '../../examples/configs/turtlebot_demo.yaml'))

10
gibson2/envs/demo_interactive.py
View File

@ -1,24 +1,24 @@
import yaml
from gibson2.core.physics.robot_locomotors import Turtlebot
from gibson2.core.simulator import Simulator
from gibson2.core.physics.scene import BuildingScene, StadiumScene, InteractiveBuildingScene
from gibson2.core.physics.scene import BuildingScene, StadiumScene
from gibson2.utils.utils import parse_config
import pytest
import pybullet as p
import numpy as np
import os
import gibson2
from gibson2.utils.assets_utils import download_data
from gibson2.utils.assets_utils import download_assets,download_demo_data
class DemoInteractive(object):
def __init__(self):
download_data()
download_assets()
download_demo_data()
def run_demo(self):
config = parse_config(os.path.join(gibson2.assets_path, '../../examples/configs/turtlebot_demo.yaml'))
s = Simulator(mode='gui', image_width=700, image_height=700)
model_path = os.path.join(gibson2.dataset_path, 'Rs_interactive', 'rs_interactive.urdf')
scene = InteractiveBuildingScene(model_path)
scene = BuildingScene('Rs_interactive', is_interactive=True)
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)

8
gibson2/utils/assets_utils.py
View File

@ -25,6 +25,14 @@ def get_texture_file(mesh_file):
return texture_file
def download_data():
download_assets()
if not os.path.exists(gibson2.dataset_path):
os.makedirs(gibson2.dataset_path)
if not os.path.exists(os.path.join(gibson2.dataset_path, 'Rs')):
os.system('wget https://storage.googleapis.com/gibson_scenes/Rs.tar.gz -O /tmp/Rs.tar.gz')
os.system('tar -zxf /tmp/Rs.tar.gz --directory {}'.format(gibson2.dataset_path))
def download_assets():
if not os.path.exists(gibson2.assets_path):
os.system('wget https://storage.googleapis.com/gibson_scenes/assets_igibson.tar.gz -O /tmp/assets_igibson.tar.gz')