def load_scene_mesh(self):
"""
Load scene mesh
"""
filename = os.path.join(get_scene_path(self.scene_id),
"mesh_z_up_downsampled.obj")
if not os.path.isfile(filename):
filename = os.path.join(get_scene_path(self.scene_id),
"mesh_z_up.obj")
collision_id = p.createCollisionShape(
p.GEOM_MESH, fileName=filename, flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
if self.pybullet_load_texture:
visual_id = p.createVisualShape(p.GEOM_MESH, fileName=filename)
else:
visual_id = -1
self.mesh_body_id = p.createMultiBody(
baseCollisionShapeIndex=collision_id,
baseVisualShapeIndex=visual_id)
p.changeDynamics(self.mesh_body_id, -1, lateralFriction=1)
if self.pybullet_load_texture:
texture_filename = get_texture_file(filename)
if texture_filename is not None:
texture_id = p.loadTexture(texture_filename)
p.changeVisualShape(self.mesh_body_id,
-1,
textureUniqueId=texture_id)
def main():
scene_id = 'Rs'
trav_map_original_size = 1000
trav_map_size = 200
trav_map_erosion = 2
floor_map = []
floor_graph = []
with open(os.path.join(get_scene_path(scene_id), 'floors.txt'), 'r') as f:
floors = sorted(list(map(float, f.readlines())))
print('floor_heights', floors)
for f in range(len(floors)):
trav_map = Image.open(
os.path.join(get_scene_path(scene_id),
'floor_trav_{}.png'.format(f)))
obstacle_map = Image.open(
os.path.join(get_scene_path(scene_id), 'floor_{}.png'.format(f)))
trav_map = np.array(trav_map.resize((trav_map_size, trav_map_size)))
obstacle_map = np.array(
obstacle_map.resize((trav_map_size, trav_map_size)))
trav_map[obstacle_map == 0] = 0
trav_map = cv2.erode(trav_map,
np.ones((trav_map_erosion, trav_map_erosion)))
plt.figure(f, figsize=(12, 12))
plt.imshow(trav_map)
plt.show()
def main():
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_scene_path('Rs'), 'mesh_z_up.obj')
renderer = MeshRendererG2G(width=512, height=512, device_idx=0)
renderer.load_object(model_path)
renderer.add_instance(0)
print(renderer.visual_objects, renderer.instances)
print(renderer.materials_mapping, renderer.mesh_materials)
camera_pose = np.array([0, 0, 1.2])
view_direction = np.array([1, 0, 0])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
for i in range(3000):
with Profiler('Render'):
frame = renderer.render(modes=('rgb', 'normal', '3d'))
print(frame)
img_np = frame[0].flip(0).data.cpu().numpy().reshape(
renderer.height, renderer.width, 4)
normal_np = frame[1].flip(0).data.cpu().numpy().reshape(
renderer.height, renderer.width, 4)
plt.imshow(np.concatenate([img_np, normal_np], axis=1))
plt.show()
def load(self):
"""
Load the scene (including scene mesh and floor plane) into pybullet
"""
self.load_floor_metadata()
self.load_scene_mesh()
self.load_floor_planes()
self.load_trav_map(get_scene_path(self.scene_id))
return [self.mesh_body_id] + self.floor_body_ids
def load_floor_metadata(self):
"""
Load floor metadata
"""
floor_height_path = os.path.join(get_scene_path(self.scene_id),
'floors.txt')
if not os.path.isfile(floor_height_path):
raise Exception(
'floor_heights.txt cannot be found in model: {}'.format(
self.scene_id))
with open(floor_height_path, 'r') as f:
self.floor_heights = sorted(list(map(float, f.readlines())))
logging.debug('Floors {}'.format(self.floor_heights))
def main():
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_scene_path('Rs'), 'mesh_z_up.obj')
p.connect(p.GUI)
p.setGravity(0, 0, -9.8)
p.setTimeStep(1./240.)
# Load scenes
collision_id = p.createCollisionShape(p.GEOM_MESH,
fileName=model_path,
meshScale=1.0,
flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
visual_id = p.createVisualShape(p.GEOM_MESH,
fileName=model_path,
meshScale=1.0)
mesh_id = p.createMultiBody(baseCollisionShapeIndex=collision_id,
baseVisualShapeIndex=visual_id)
# Load robots
turtlebot_urdf = os.path.join(
gibson2.assets_path, 'models/turtlebot/turtlebot.urdf')
robot_id = p.loadURDF(
turtlebot_urdf, flags=p.URDF_USE_MATERIAL_COLORS_FROM_MTL)
# Load objects
obj_visual_filename = os.path.join(
gibson2.assets_path, 'models/ycb/002_master_chef_can/textured_simple.obj')
obj_collision_filename = os.path.join(
gibson2.assets_path, 'models/ycb/002_master_chef_can/textured_simple_vhacd.obj')
collision_id = p.createCollisionShape(p.GEOM_MESH,
fileName=obj_collision_filename,
meshScale=1.0)
visual_id = p.createVisualShape(p.GEOM_MESH,
fileName=obj_visual_filename,
meshScale=1.0)
object_id = p.createMultiBody(baseCollisionShapeIndex=collision_id,
baseVisualShapeIndex=visual_id,
basePosition=[1.0, 0.0, 1.0],
baseMass=0.1)
for _ in range(10000):
p.stepSimulation()
p.disconnect()
def main():
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_scene_path('Rs'), 'mesh_z_up.obj')
renderer = MeshRenderer(width=512, height=512)
renderer.load_object(model_path)
renderer.add_instance(0)
camera_pose = np.array([0, 0, 1.2])
view_direction = np.array([1, 0, 0])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
frames = renderer.render(
modes=('rgb', 'normal', '3d'))
frames = cv2.cvtColor(np.concatenate(frames, axis=1), cv2.COLOR_RGB2BGR)
cv2.imshow('image', frames)
cv2.waitKey(0)
def main():
global _mouse_ix, _mouse_iy, down, view_direction
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_scene_path('Rs'), 'mesh_z_up.obj')
renderer = MeshRenderer(width=512, height=512)
renderer.load_object(model_path)
renderer.add_instance(0)
print(renderer.visual_objects, renderer.instances)
print(renderer.materials_mapping, renderer.mesh_materials)
px = 0
py = 0.2
camera_pose = np.array([px, py, 0.5])
view_direction = np.array([0, -1, -1])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
_mouse_ix, _mouse_iy = -1, -1
down = False
def change_dir(event, x, y, flags, param):
global _mouse_ix, _mouse_iy, down, view_direction
if event == cv2.EVENT_LBUTTONDOWN:
_mouse_ix, _mouse_iy = x, y
down = True
if event == cv2.EVENT_MOUSEMOVE:
if down:
dx = (x - _mouse_ix) / 100.0
dy = (y - _mouse_iy) / 100.0
_mouse_ix = x
_mouse_iy = y
r1 = np.array([[np.cos(dy), 0, np.sin(dy)], [0, 1, 0],
[-np.sin(dy), 0, np.cos(dy)]])
r2 = np.array([[np.cos(-dx), -np.sin(-dx), 0],
[np.sin(-dx), np.cos(-dx), 0], [0, 0, 1]])
view_direction = r1.dot(r2).dot(view_direction)
elif event == cv2.EVENT_LBUTTONUP:
down = False
cv2.namedWindow('test')
cv2.setMouseCallback('test', change_dir)
while True:
with Profiler('Render'):
frame = renderer.render(modes=('rgb'))
cv2.imshow(
'test',
cv2.cvtColor(np.concatenate(frame, axis=1), cv2.COLOR_RGB2BGR))
q = cv2.waitKey(1)
if q == ord('w'):
px += 0.01
elif q == ord('s'):
px -= 0.01
elif q == ord('a'):
py += 0.01
elif q == ord('d'):
py -= 0.01
elif q == ord('q'):
break
camera_pose = np.array([px, py, 0.5])
renderer.set_camera(camera_pose, camera_pose + view_direction,
[0, 0, 1])
renderer.release()
def main():
global _mouse_ix, _mouse_iy, down, view_direction
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_scene_path('Rs_int'), 'mesh_z_up.obj')
settings = MeshRendererSettings(msaa=True, enable_shadow=True)
renderer = MeshRenderer(width=1024, height=1024, vertical_fov=70, rendering_settings=settings)
renderer.set_light_position_direction([0,0,10], [0,0,0])
i = 0
v = []
for fn in os.listdir(model_path):
if fn.endswith('obj'):
vertices, faces = load_obj_np(os.path.join(model_path, fn))
v.append(vertices)
v = np.vstack(v)
print(v.shape)
xlen = np.max(v[:,0]) - np.min(v[:,0])
ylen = np.max(v[:,1]) - np.min(v[:,1])
scale = 2.0/(max(xlen, ylen))
for fn in os.listdir(model_path):
if fn.endswith('obj'):
renderer.load_object(os.path.join(model_path, fn), scale=[scale, scale, scale])
renderer.add_instance(i)
i += 1
print(renderer.visual_objects, renderer.instances)
print(renderer.materials_mapping, renderer.mesh_materials)
px = 1
py = 1
pz = 1
camera_pose = np.array([px, py, pz])
view_direction = np.array([-1, -1, -1])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
_mouse_ix, _mouse_iy = -1, -1
down = False
def change_dir(event, x, y, flags, param):
global _mouse_ix, _mouse_iy, down, view_direction
if event == cv2.EVENT_LBUTTONDOWN:
_mouse_ix, _mouse_iy = x, y
down = True
if event == cv2.EVENT_MOUSEMOVE:
if down:
dx = (x - _mouse_ix) / 100.0
dy = (y - _mouse_iy) / 100.0
_mouse_ix = x
_mouse_iy = y
r1 = np.array([[np.cos(dy), 0, np.sin(dy)], [0, 1, 0], [-np.sin(dy), 0, np.cos(dy)]])
r2 = np.array([[np.cos(-dx), -np.sin(-dx), 0], [np.sin(-dx), np.cos(-dx), 0], [0, 0, 1]])
view_direction = r1.dot(r2).dot(view_direction)
elif event == cv2.EVENT_LBUTTONUP:
down = False
cv2.namedWindow('test')
cv2.setMouseCallback('test', change_dir)
while True:
with Profiler('Render'):
frame = renderer.render(modes=('rgb', 'normal'))
cv2.imshow('test', cv2.cvtColor(np.concatenate(frame, axis=1), cv2.COLOR_RGB2BGR))
q = cv2.waitKey(1)
if q == ord('w'):
px += 0.1
elif q == ord('s'):
px -= 0.1
elif q == ord('a'):
py += 0.1
elif q == ord('d'):
py -= 0.1
elif q == ord('q'):
break
camera_pose = np.array([px, py, 1])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.release()