def main():
config = parse_config('../configs/turtlebot_demo.yaml')
settings = MeshRendererSettings(enable_shadow=False, msaa=False)
s = Simulator(mode='gui',
image_width=256,
image_height=256,
rendering_settings=settings)
scene = StaticIndoorScene('Rs',
build_graph=True,
pybullet_load_texture=True)
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
for _ in range(10):
obj = YCBObject('003_cracker_box')
s.import_object(obj)
obj.set_position_orientation(np.random.uniform(low=0, high=2, size=3),
[0, 0, 0, 1])
print(s.renderer.instances)
for i in range(10000):
with Profiler('Simulator step'):
turtlebot.apply_action([0.1, 0.1])
s.step()
rgb = s.renderer.render_robot_cameras(modes=('rgb'))
s.disconnect()
def test_import_object():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
obj = YCBObject('003_cracker_box')
s.import_object(obj)
objs = s.objects
s.disconnect()
assert objs == list(range(5))
def test_import_many_object():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
for i in range(30):
obj = YCBObject('003_cracker_box')
s.import_object(obj)
for j in range(1000):
s.step()
last_obj = s.objects[-1]
s.disconnect()
assert (last_obj == 33)
def test_import_box():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
print(s.objects)
# wall = [pos, dim]
wall = [[[0, 7, 1.01], [10, 0.2, 1]], [[0, -7, 1.01], [6.89, 0.1, 1]],
[[7, -1.5, 1.01], [0.1, 5.5, 1]], [[-7, -1, 1.01], [0.1, 6, 1]],
[[-8.55, 5, 1.01], [1.44, 0.1, 1]],
[[8.55, 4, 1.01], [1.44, 0.1, 1]]]
obstacles = [[[-0.5, 2, 1.01], [3.5, 0.1, 1]],
[[4.5, -1, 1.01], [1.5, 0.1, 1]], [[-4, -2, 1.01],
[0.1, 2, 1]],
[[2.5, -4, 1.01], [1.5, 0.1, 1]]]
for i in range(len(wall)):
curr = wall[i]
obj = Cube(curr[0], curr[1])
s.import_object(obj)
for i in range(len(obstacles)):
curr = obstacles[i]
obj = Cube(curr[0], curr[1])
s.import_object(obj)
config = parse_config(os.path.join(gibson2.root_path, '../test/test.yaml'))
turtlebot1 = Turtlebot(config)
turtlebot2 = Turtlebot(config)
s.import_robot(turtlebot1)
s.import_robot(turtlebot2)
turtlebot1.set_position([6., -6., 0.])
turtlebot2.set_position([-3., 4., 0.])
for i in range(100):
s.step()
s.disconnect()
def test_import_rbo_object():
s = Simulator(mode='headless')
try:
scene = StadiumScene()
s.import_scene(scene)
obj = RBOObject('book')
s.import_object(obj)
obj2 = RBOObject('microwave')
s.import_object(obj2)
obj.set_position([0, 0, 2])
obj2.set_position([0, 1, 2])
obj3 = ArticulatedObject(
os.path.join(gibson2.assets_path, 'models', 'scene_components',
'door.urdf'))
s.import_object(obj3)
for i in range(100):
s.step()
finally:
s.disconnect()
def benchmark(render_to_tensor=False, resolution=512):
config = parse_config(os.path.join(gibson2.root_path, '../test/test.yaml'))
s = Simulator(mode='headless',
image_width=resolution,
image_height=resolution,
render_to_tensor=render_to_tensor)
scene = StaticIndoorScene('Rs',
build_graph=True,
pybullet_load_texture=True)
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
n_frame = 500
start = time.time()
for i in range(n_frame):
turtlebot.apply_action([0.1, 0.1])
s.step()
rgb = s.renderer.render_robot_cameras(modes=('rgb'))
physics_render_elapsed = time.time() - start
physics_render_fps = n_frame / physics_render_elapsed
print(
"physics simulation + rendering rgb, resolution {}, render_to_tensor {}: {} fps"
.format(resolution, render_to_tensor, physics_render_fps))
start = time.time()
for i in range(n_frame):
rgb = s.renderer.render_robot_cameras(modes=('rgb'))
render_elapsed = time.time() - start
rgb_fps = n_frame / render_elapsed
print("Rendering rgb, resolution {}, render_to_tensor {}: {} fps".format(
resolution, render_to_tensor, n_frame / render_elapsed))
start = time.time()
for i in range(n_frame):
rgb = s.renderer.render_robot_cameras(modes=('3d'))
render_elapsed = time.time() - start
pc_fps = n_frame / render_elapsed
print("Rendering 3d, resolution {}, render_to_tensor {}: {} fps".format(
resolution, render_to_tensor, n_frame / render_elapsed))
start = time.time()
for i in range(n_frame):
rgb = s.renderer.render_robot_cameras(modes=('normal'))
normal_fps = n_frame / render_elapsed
render_elapsed = time.time() - start
print(
"Rendering normal, resolution {}, render_to_tensor {}: {} fps".format(
resolution, render_to_tensor, n_frame / render_elapsed))
plt.figure()
plt.bar([0, 1, 2, 3], [physics_render_fps, rgb_fps, pc_fps, normal_fps],
color='g')
plt.xticks([0, 1, 2, 3], ['sim+render', 'rgb', '3d', 'normal'])
plt.ylabel('fps')
plt.xlabel('mode')
plt.title('Static Scene Benchmark, resolution {}, to_tensor {}'.format(
resolution, render_to_tensor))
plt.savefig('static_scene_benchmark_res{}_tensor{}.pdf'.format(
resolution, render_to_tensor))
s.disconnect()
