def main():
config = parse_config(
os.path.join(gibson2.example_config_path,
'turtlebot_demo.yaml')) #robot configuration file path
# settings = MeshRendererSettings() #generating renderer settings object
#generating simulator object
#s = Simulator(mode='headless', #simulating without gui
s = Simulator(
mode='headless', #simulating with gui
# image_width=256, #robot camera pixel width
# image_height=256, #robot camera pixel height
# vertical_fov=40, #robot camera view angle (from floor to ceiling 40 degrees)
)
#rendering_settings=settings)
#generating scene object
scene = InteractiveIndoorScene(
'Benevolence_1_int', #scene name: Benevolence, floor number: 1, does it include interactive objects: yes (int). I pick Benevolence on purpose as it is the most memory friendly scene in the iGibson dataset.
build_graph=
True, #builds the connectivity graph over the given facedown traversibility map (floor plan)
waypoint_resolution=
0.1, #radial distance between 2 consecutive waypoints (10 cm)
pybullet_load_texture=True
) #do you want to include texture and material properties? (you need this for object interaction)
s.import_ig_scene(scene) #loading the scene object in the simulator object
turtlebot = Turtlebot(config) #generating the robot object
s.import_robot(
turtlebot) #loading the robot object in the simulator object
init_pos = turtlebot.get_position(
) #getting the initial position of the robot base [X:meters, Y:meters, Z:meters] (base: robot's main body. it may have links and the associated joints too. links and joints have positions and orientations as well.)
init_or = turtlebot.get_rpy(
) #getting the initial Euler angles of the robot base [Roll: radians, Pitch: radians, Yaw: radians]
#sampling random goal states in a desired room of the apartment
np.random.seed(0)
goal = scene.get_random_point_by_room_type('living_room')[
1] #sampling a random point in the living room
rnd_path = scene.get_shortest_path(
0, init_pos[0:2], goal[0:2], entire_path=True
)[0] #generate the "entire" a* path between the initial and goal nodes
for i in range(len(rnd_path[0]) - 1):
with Profiler(
'Simulator step'
): #iGibson simulation loop requieres this context manager
rgb_camera = np.array(
s.renderer.render_robot_cameras(modes='rgb')
) #probing RGB data, you can also probe rgbd or even optical flow if robot has that property in its config file (.yaml file)
plt.imshow(rgb_camera[0, :, :, 3]) #calling sampled RGB data
lidar = s.renderer.get_lidar_all() #probing 360 degrees lidar data
delta_pos = smt_path[:, i +
1] - smt_path[:,
i] #direction vector between 2 consucutive waypoints
delta_yaw = np.arctan2(
delta_pos[1], delta_pos[0]
) #the yaw angle of the robot base while following the sampled bezier path
delta_qua = e2q(
init_or[0], init_or[1],
delta_yaw) #transforming robot base Euler angles to quaternion
turtlebot.set_position_orientation([
smt_path[0, i], smt_path[1, i], init_pos[2]
], delta_qua) #setting the robot base position and the orientation
s.step() #proceed one step ahead in simulation time
s.disconnect()
def main():
config = parse_config(os.path.join(gibson2.example_config_path, 'turtlebot_demo.yaml')) #robot configuration file path
settings = MeshRendererSettings() #generating renderer settings object
#generating simulator object
s = Simulator(mode='headless', #simulating without gui
#s = Simulator(mode='gui', #simulating with gui
image_width=64, #robot camera pixel width
image_height=48, #robot camera pixel height
vertical_fov=75, #robot camera view angle (from floor to ceiling 40 degrees)
rendering_settings=settings)
#generating scene object
scene = InteractiveIndoorScene('Benevolence_1_int', #scene name: Benevolence, floor number: 1, does it include interactive objects: yes (int). I pick Benevolence on purpose as it is the most memory friendly scene in the iGibson dataset.
build_graph=True, #builds the connectivity graph over the given facedown traversibility map (floor plan)
waypoint_resolution=0.1, #radial distance between 2 consecutive waypoints (10 cm)
trav_map_resolution=0.1,
trav_map_erosion=2,
should_open_all_doors=True,
pybullet_load_texture=True) #do you want to include texture and material properties? (you need this for object interaction)
s.import_ig_scene(scene) #loading the scene object in the simulator object
turtlebot = Turtlebot(config) #generating the robot object
s.import_robot(turtlebot) #loading the robot object in the simulator object
init_pos = turtlebot.get_position() #getting the initial position of the robot base [X:meters, Y:meters, Z:meters] (base: robot's main body. it may have links and the associated joints too. links and joints have positions and orientations as well.)
init_or = turtlebot.get_rpy() #getting the initial Euler angles of the robot base [Roll: radians, Pitch: radians, Yaw: radians]
#sampling random goal states in a desired room of the apartment
np.random.seed(0)
encoder = keras.models.load_model('./CVAE_encoder')
decoder = keras.models.load_model('./CVAE_decoder')
for j in range(30):
goal1 = scene.get_random_point_by_room_type('living_room')[1] #sampling random points in the living room
goal2 = scene.get_random_point_by_room_type('living_room')[1]
goal3 = scene.get_random_point_by_room_type('living_room')[1]
goal4 = init_pos
path1 = scene.get_shortest_path(0,init_pos[0:2],goal1[0:2],entire_path=True)[0] #generate the "entire" a* path between the initial, sub-goal, and terminal goal nodes
path2 = scene.get_shortest_path(0,goal1[0:2],goal2[0:2],entire_path=True)[0]
path3 = scene.get_shortest_path(0,goal2[0:2],goal3[0:2],entire_path=True)[0]
path4 = scene.get_shortest_path(0,goal3[0:2],goal4[0:2],entire_path=True)[0]
rnd_path = np.append(path1,path2[1:],axis=0)
rnd_path = np.append(rnd_path,path3[1:],axis=0)
rnd_path = np.append(rnd_path,path4[1:],axis=0)
#fitting a bezier curve through the a* waypoints and sampling 2000 points from that curve
path_nodes = np.asfortranarray([rnd_path[:,0].tolist(),rnd_path[:,1].tolist()])
smt_crv = bezier.Curve.from_nodes(path_nodes)
s_vals = np.linspace(0,1,2000)
smt_path = smt_crv.evaluate_multi(s_vals)
#correcting the initial orientation of the robot
delta_pos = smt_path[:,1] - smt_path[:,0] #direction vector between 2 consecutive waypoints
delta_yaw = np.arctan2(delta_pos[1],delta_pos[0]) #the yaw angle of the robot base while following the sampled bezier path
delta_qua = e2q(init_or[0],init_or[1],delta_yaw) #transforming robot base Euler angles to quaternion
turtlebot.set_position_orientation([smt_path[0,0],smt_path[1,0],init_pos[2]], delta_qua) #setting the robot base position and the orientation
episode_path = os.getcwd() + '/episodes/episode_' + str(j).zfill(2) #path of the new episode folder
#os.makedirs(episode_path) #creating a new folder for the episode
gtrth_pth_str = episode_path + '/episode_' + str(j).zfill(2) + 'ground_truth_path.csv' #printing the ground truth path out
#np.savetxt(gtrth_pth_str, np.atleast_2d(smt_path).T, delimiter=",")
for i in range(len(smt_path[0])-1):
with Profiler('Simulator step'): #iGibson simulation loop requieres this context manager
rgb_camera = np.array(s.renderer.render_robot_cameras(modes='rgb')) #probing RGB data, you can also probe rgbd or even optical flow if robot has that property in its config file (.yaml file)
robot_img = rgb_camera[0,:,:,0] #transforming the RGB probe to uint8 format (PIL.Image.fromarray() accepts that format)
encoded = encoder.predict(np.expand_dims(robot_img, axis=0))
decoded = decoder.predict(encoded[0])
robot_img = decoded[0,:,:,0]
robot_img = robot_img.astype('uint8')
robot_img = Image.fromarray(robot_img)
img_str = './iGib_recons' + '/episode_' + str(j).zfill(2) + '_frame_' + str(i).zfill(5) + '.jpeg'
robot_img.save(img_str)
#lidar = s.renderer.get_lidar_all() #probing 360 degrees lidar data
delta_pos = smt_path[:,i+1] - smt_path[:,i] #direction vector between 2 consecutive waypoints
delta_yaw = np.arctan2(delta_pos[1],delta_pos[0]) #the yaw angle of the robot base while following the sampled bezier path
delta_qua = e2q(init_or[0],init_or[1],delta_yaw) #transforming robot base Euler angles to quaternion
turtlebot.set_position_orientation([smt_path[0,i],smt_path[1,i],init_pos[2]], delta_qua) #setting the robot base position and the orientation
velcmd1, velcmd2 = PID_path_track(delta_pos, delta_qua)
turtlebot.set_motor_velocity([velcmd1,velcmd2])
s.step() #proceed one step ahead in simulation time
s.disconnect()
