def __init__(self):
config = parse_config('../../configs/turtlebot_demo.yaml')
hdr_texture = os.path.join(gibson2.ig_dataset_path, 'scenes',
'background', 'probe_02.hdr')
hdr_texture2 = os.path.join(gibson2.ig_dataset_path, 'scenes',
'background', 'probe_03.hdr')
light_modulation_map_filename = os.path.join(gibson2.ig_dataset_path,
'scenes', 'Rs_int',
'layout',
'floor_lighttype_0.png')
background_texture = os.path.join(gibson2.ig_dataset_path, 'scenes',
'background', 'urban_street_01.jpg')
settings = MeshRendererSettings(enable_shadow=False, enable_pbr=False)
self.s = Simulator(mode='headless',
image_width=400,
image_height=400,
rendering_settings=settings)
scene = StaticIndoorScene('Rs')
self.s.import_scene(scene)
#self.s.import_ig_scene(scene)
self.robot = Turtlebot(config)
self.s.import_robot(self.robot)
for _ in range(5):
obj = YCBObject('003_cracker_box')
self.s.import_object(obj)
obj.set_position_orientation(
np.random.uniform(low=0, high=2, size=3), [0, 0, 0, 1])
print(self.s.renderer.instances)
def test_fetch():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
fetch = Fetch(config)
s.import_robot(fetch)
for i in range(100):
fetch.calc_state()
s.step()
s.disconnect()
def __init__(self,
config_file,
scene_id=None,
mode='headless',
action_timestep=1 / 10.0,
physics_timestep=1 / 240.0,
render_to_tensor=False,
device_idx=0):
"""
:param config_file: config_file path
:param scene_id: override scene_id in config file
:param mode: headless or gui mode
:param action_timestep: environment executes action per action_timestep second
:param physics_timestep: physics timestep for pybullet
:param device_idx: device_idx: which GPU to run the simulation and rendering on
"""
self.config = parse_config(config_file)
if scene_id is not None:
self.config['scene_id'] = scene_id
self.mode = mode
self.action_timestep = action_timestep
self.physics_timestep = physics_timestep
self.texture_randomization_freq = self.config.get(
'texture_randomization_freq', None)
self.object_randomization_freq = self.config.get(
'object_randomization_freq', None)
self.object_randomization_idx = 0
self.num_object_randomization_idx = 10
enable_shadow = self.config.get('enable_shadow', False)
enable_pbr = self.config.get('enable_pbr', True)
texture_scale = self.config.get('texture_scale', 1.0)
settings = MeshRendererSettings(enable_shadow=enable_shadow,
enable_pbr=enable_pbr,
msaa=False,
texture_scale=texture_scale)
self.simulator = Simulator(
mode=mode,
physics_timestep=physics_timestep,
render_timestep=action_timestep,
image_width=self.config.get('image_width', 128),
image_height=self.config.get('image_height', 128),
vertical_fov=self.config.get('vertical_fov', 90),
device_idx=device_idx,
render_to_tensor=render_to_tensor,
rendering_settings=settings)
self.load()
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 main():
s = Simulator(mode='gui', image_width=512, image_height=512, device_idx=0)
for random_seed in range(10):
scene = InteractiveIndoorScene('Rs_int',
texture_randomization=False,
object_randomization=True,
object_randomization_idx=random_seed)
s.import_ig_scene(scene)
for i in range(1000):
s.step()
s.reload()
s.disconnect()
def test_import_igsdf(scene_name, scene_source):
hdr_texture = os.path.join(
gibson2.ig_dataset_path, 'scenes', 'background', 'probe_02.hdr')
hdr_texture2 = os.path.join(
gibson2.ig_dataset_path, 'scenes', 'background', 'probe_03.hdr')
if scene_source == "IG":
scene_dir = get_ig_scene_path(scene_name)
elif scene_source == "CUBICASA":
scene_dir = get_cubicasa_scene_path(scene_name)
else:
scene_dir = get_3dfront_scene_path(scene_name)
light_modulation_map_filename = os.path.join(
scene_dir, 'layout', 'floor_lighttype_0.png')
background_texture = os.path.join(
gibson2.ig_dataset_path, 'scenes', 'background',
'urban_street_01.jpg')
scene = InteractiveIndoorScene(
scene_name,
texture_randomization=False,
object_randomization=False,
scene_source=scene_source)
settings = MeshRendererSettings(env_texture_filename=hdr_texture,
env_texture_filename2=hdr_texture2,
env_texture_filename3=background_texture,
light_modulation_map_filename=light_modulation_map_filename,
enable_shadow=True, msaa=True,
light_dimming_factor=1.0)
s = Simulator(mode='iggui', image_width=960,
image_height=720, device_idx=0, rendering_settings=settings)
s.import_ig_scene(scene)
fpss = []
np.random.seed(0)
_,(px,py,pz) = scene.get_random_point()
s.viewer.px = px
s.viewer.py = py
s.viewer.pz = 1.7
s.viewer.update()
for i in range(3000):
if i == 2500:
logId = p.startStateLogging(loggingType=p.STATE_LOGGING_PROFILE_TIMINGS, fileName='trace_beechwood')
start = time.time()
s.step()
end = time.time()
print("Elapsed time: ", end - start)
print("Frequency: ", 1 / (end - start))
fpss.append(1 / (end - start))
p.stopStateLogging(logId)
s.disconnect()
print("end")
plt.plot(fpss)
plt.show()
def __init__(self, robot='turtlebot', scene='Rs_int'):
config = parse_config('../../configs/turtlebot_demo.yaml')
hdr_texture = os.path.join(gibson2.ig_dataset_path, 'scenes',
'background', 'probe_02.hdr')
hdr_texture2 = os.path.join(gibson2.ig_dataset_path, 'scenes',
'background', 'probe_03.hdr')
light_modulation_map_filename = os.path.join(gibson2.ig_dataset_path,
'scenes', 'Rs_int',
'layout',
'floor_lighttype_0.png')
background_texture = os.path.join(gibson2.ig_dataset_path, 'scenes',
'background', 'urban_street_01.jpg')
scene = InteractiveIndoorScene(scene,
texture_randomization=False,
object_randomization=False)
#scene._set_first_n_objects(5)
scene.open_all_doors()
settings = MeshRendererSettings(
env_texture_filename=hdr_texture,
env_texture_filename2=hdr_texture2,
env_texture_filename3=background_texture,
light_modulation_map_filename=light_modulation_map_filename,
enable_shadow=True,
msaa=True,
light_dimming_factor=1.0,
optimized=True)
self.s = Simulator(mode='headless',
image_width=400,
image_height=400,
rendering_settings=settings)
self.s.import_ig_scene(scene)
if robot == 'turtlebot':
self.robot = Turtlebot(config)
else:
self.robot = Fetch(config)
self.s.import_robot(self.robot)
for _ in range(5):
obj = YCBObject('003_cracker_box')
self.s.import_object(obj)
obj.set_position_orientation(
np.random.uniform(low=0, high=2, size=3), [0, 0, 0, 1])
print(self.s.renderer.instances)
def run_demo(self):
config = parse_config(
os.path.join(os.path.dirname(gibson2.__file__),
'../examples/configs/turtlebot_demo.yaml'))
s = Simulator(mode='gui', image_width=700, image_height=700)
scene = StaticIndoorScene('Rs', pybullet_load_texture=True)
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
for i in range(1000):
turtlebot.apply_action([0.1, 0.5])
s.step()
s.disconnect()
def test_quadrotor():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
quadrotor = Quadrotor(config)
s.import_robot(quadrotor)
nbody = p.getNumBodies()
s.disconnect()
assert nbody == 5
def test_humanoid():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
humanoid = Humanoid(config)
s.import_robot(humanoid)
nbody = p.getNumBodies()
s.disconnect()
assert nbody == 5
def test_jr2():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
jr2 = JR2(config)
s.import_robot(jr2)
nbody = p.getNumBodies()
s.disconnect()
assert nbody == 5
def test_turtlebot():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
nbody = p.getNumBodies()
s.disconnect()
assert nbody == 5
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_building():
download_assets()
download_demo_data()
s = Simulator(mode='headless')
scene = StaticIndoorScene('Rs')
s.import_scene(scene, texture_scale=0.4)
for i in range(15):
s.step()
assert s.objects == list(range(2))
s.disconnect()
def main():
s = Simulator(mode='gui', image_width=512,
image_height=512, device_idx=0)
scene = InteractiveIndoorScene(
'Rs_int', texture_randomization=True, object_randomization=False)
s.import_ig_scene(scene)
for i in range(10000):
if i % 1000 == 0:
scene.randomize_texture()
s.step()
s.disconnect()
def main():
s = Simulator(mode='gui', image_width=512, image_height=512, device_idx=0)
scene = InteractiveIndoorScene('Rs_int',
texture_randomization=False,
object_randomization=False,
load_object_categories=['chair'],
load_room_types=['living_room'])
s.import_ig_scene(scene)
for _ in range(1000):
s.step()
s.disconnect()
def test_humanoid_position():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
humanoid = Humanoid(config)
s.import_robot(humanoid)
humanoid.set_position([0, 0, 5])
nbody = p.getNumBodies()
pos = humanoid.get_position()
s.disconnect()
assert nbody == 5
assert np.allclose(pos, np.array([0, 0, 5]))
def test_turtlebot_position():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
turtlebot.set_position([0, 0, 5])
nbody = p.getNumBodies()
pos = turtlebot.get_position()
s.disconnect()
assert nbody == 5
assert np.allclose(pos, np.array([0, 0, 5]))
def benchmark_rendering(scene_list, rendering_presets_list, modality_list):
config = parse_config(os.path.join(gibson2.root_path, '../test/test.yaml'))
assets_version = get_ig_assets_version()
print('assets_version', assets_version)
result = {}
for scene_name in scene_list:
for rendering_preset in rendering_presets_list:
scene = InteractiveIndoorScene(scene_name,
texture_randomization=False,
object_randomization=False)
settings = NamedRenderingPresets[rendering_preset]
if rendering_preset == 'VISUAL_RL':
image_width = 128
image_height = 128
else:
image_width = 512
image_height = 512
s = Simulator(mode='headless',
image_width=image_width,
image_height=image_height,
device_idx=0,
rendering_settings=settings,
physics_timestep=1 / 240.0)
s.import_ig_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
for mode in modality_list:
for _ in range(10):
s.step()
_ = s.renderer.render_robot_cameras(modes=(mode))
start = time.time()
for _ in range(200):
_ = s.renderer.render_robot_cameras(modes=(mode))
end = time.time()
fps = 200 / (end - start)
result[(scene_name, rendering_preset, mode)] = fps
s.disconnect()
return result
def main():
s = Simulator(mode='gui', image_width=512,
image_height=512, device_idx=0)
scene = InteractiveIndoorScene(
'Rs_int', texture_randomization=False, object_randomization=False)
s.import_ig_scene(scene)
np.random.seed(0)
for _ in range(10):
pt = scene.get_random_point_by_room_type('living_room')[1]
print('random point in living_room', pt)
for _ in range(1000):
s.step()
s.disconnect()
def main():
config = parse_config('../configs/turtlebot_demo.yaml')
settings = MeshRendererSettings()
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 i in range(10000):
with Profiler('Simulator step'):
turtlebot.apply_action([0.1, -0.1])
s.step()
lidar = s.renderer.get_lidar_all()
print(lidar.shape)
# TODO: visualize lidar scan
s.disconnect()
def test_import_stadium():
download_assets()
download_demo_data()
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
print(s.objects)
assert s.objects == list(range(4))
s.disconnect()
def generate_trav_map(scene_name, scene_source, load_full_scene=True):
if scene_source not in SCENE_SOURCE:
raise ValueError('Unsupported scene source: {}'.format(scene_source))
if scene_source == "IG":
scene_dir = get_ig_scene_path(scene_name)
elif scene_source == "CUBICASA":
scene_dir = get_cubicasa_scene_path(scene_name)
else:
scene_dir = get_3dfront_scene_path(scene_name)
random.seed(0)
scene = InteractiveIndoorScene(scene_name,
build_graph=False,
texture_randomization=False,
scene_source=scene_source)
if not load_full_scene:
scene._set_first_n_objects(3)
s = Simulator(mode='headless',
image_width=512,
image_height=512,
device_idx=0)
s.import_ig_scene(scene)
if load_full_scene:
scene.open_all_doors()
for i in range(20):
s.step()
vertices_info, faces_info = s.renderer.dump()
s.disconnect()
if load_full_scene:
trav_map_filename_format = 'floor_trav_{}.png'
obstacle_map_filename_format = 'floor_{}.png'
else:
trav_map_filename_format = 'floor_trav_no_obj_{}.png'
obstacle_map_filename_format = 'floor_no_obj_{}.png'
gen_trav_map(vertices_info,
faces_info,
output_folder=os.path.join(scene_dir, 'layout'),
trav_map_filename_format=trav_map_filename_format,
obstacle_map_filename_format=obstacle_map_filename_format)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--scene',
type=str,
help='Name of the scene in the iG Dataset')
args = parser.parse_args()
settings = MeshRendererSettings(enable_shadow=True, msaa=False)
s = Simulator(mode='gui',
image_width=256,
image_height=256,
rendering_settings=settings)
scene = iGSDFScene(args.scene)
s.import_ig_scene(scene)
for i in range(10000):
with Profiler('Simulator step'):
s.step()
s.disconnect()
def debug_renderer_scaling():
s = Simulator(mode='gui',
image_width=512,
image_height=512,
physics_timestep=1 / float(100))
scene = EmptyScene()
s.import_scene(scene, render_floor_plane=True)
urdf_path = '/cvgl2/u/chengshu/ig_dataset_v5/objects/window/103070/103070_avg_size_0.urdf'
obj = ArticulatedObject(urdf_path)
s.import_object(obj)
obj.set_position([0, 0, 0])
embed()
z = stable_z_on_aabb(obj.body_id, [[0, 0, 0], [0, 0, 0]])
obj.set_position([0, 0, z])
embed()
for _ in range(100000000000):
s.step()
def test_import_igsdf():
scene = InteractiveIndoorScene('Rs_int',
texture_randomization=False,
object_randomization=False)
s = Simulator(mode='headless',
image_width=512,
image_height=512,
device_idx=0)
s.import_ig_scene(scene)
s.renderer.use_pbr(use_pbr=True, use_pbr_mapping=True)
for i in range(10):
# if i % 100 == 0:
# scene.randomize_texture()
start = time.time()
s.step()
end = time.time()
print("Elapsed time: ", end - start)
print("Frequency: ", 1 / (end - start))
s.disconnect()
def test_import_building_viewing():
download_assets()
download_demo_data()
config = parse_config(os.path.join(gibson2.root_path, '../test/test.yaml'))
s = Simulator(mode='headless')
scene = StaticIndoorScene('Rs')
s.import_scene(scene)
assert s.objects == list(range(2))
turtlebot1 = Turtlebot(config)
turtlebot2 = Turtlebot(config)
turtlebot3 = Turtlebot(config)
s.import_robot(turtlebot1)
s.import_robot(turtlebot2)
s.import_robot(turtlebot3)
turtlebot1.set_position([0.5, 0, 0.5])
turtlebot2.set_position([0, 0, 0.5])
turtlebot3.set_position([-0.5, 0, 0.5])
for i in range(10):
s.step()
#turtlebot1.apply_action(np.random.randint(4))
#turtlebot2.apply_action(np.random.randint(4))
#turtlebot3.apply_action(np.random.randint(4))
s.disconnect()
def main():
config = parse_config('../configs/fetch_p2p_nav.yaml')
s = Simulator(mode='gui', physics_timestep=1 / 240.0)
scene = EmptyScene()
s.import_scene(scene)
fetch = Fetch(config)
s.import_robot(fetch)
robot_id = fetch.robot_ids[0]
arm_joints = joints_from_names(robot_id, [
'torso_lift_joint', 'shoulder_pan_joint', 'shoulder_lift_joint',
'upperarm_roll_joint', 'elbow_flex_joint', 'forearm_roll_joint',
'wrist_flex_joint', 'wrist_roll_joint'
])
#finger_joints = joints_from_names(robot_id, ['l_gripper_finger_joint', 'r_gripper_finger_joint'])
fetch.robot_body.reset_position([0, 0, 0])
fetch.robot_body.reset_orientation([0, 0, 1, 0])
x, y, z = fetch.get_end_effector_position()
#set_joint_positions(robot_id, finger_joints, [0.04,0.04])
print(x, y, z)
visual_marker = p.createVisualShape(p.GEOM_SPHERE, radius=0.02)
marker = p.createMultiBody(baseVisualShapeIndex=visual_marker)
#max_limits = [0,0] + get_max_limits(robot_id, arm_joints) + [0.05,0.05]
#min_limits = [0,0] + get_min_limits(robot_id, arm_joints) + [0,0]
#rest_position = [0,0] + list(get_joint_positions(robot_id, arm_joints)) + [0.04,0.04]
max_limits = [0, 0] + get_max_limits(robot_id, arm_joints)
min_limits = [0, 0] + get_min_limits(robot_id, arm_joints)
rest_position = [0, 0] + list(get_joint_positions(robot_id, arm_joints))
joint_range = list(np.array(max_limits) - np.array(min_limits))
joint_range = [item + 1 for item in joint_range]
jd = [0.1 for item in joint_range]
print(max_limits)
print(min_limits)
def accurateCalculateInverseKinematics(robotid, endEffectorId, targetPos,
threshold, maxIter):
sample_fn = get_sample_fn(robotid, arm_joints)
set_joint_positions(robotid, arm_joints, sample_fn())
it = 0
while it < maxIter:
jointPoses = p.calculateInverseKinematics(robotid,
endEffectorId,
targetPos,
lowerLimits=min_limits,
upperLimits=max_limits,
jointRanges=joint_range,
restPoses=rest_position,
jointDamping=jd)
set_joint_positions(robotid, arm_joints, jointPoses[2:10])
ls = p.getLinkState(robotid, endEffectorId)
newPos = ls[4]
dist = np.linalg.norm(np.array(targetPos) - np.array(newPos))
if dist < threshold:
break
it += 1
print("Num iter: " + str(it) + ", threshold: " + str(dist))
return jointPoses
while True:
with Profiler("Simulation step"):
fetch.robot_body.reset_position([0, 0, 0])
fetch.robot_body.reset_orientation([0, 0, 1, 0])
threshold = 0.01
maxIter = 100
joint_pos = accurateCalculateInverseKinematics(
robot_id, fetch.parts['gripper_link'].body_part_index,
[x, y, z], threshold, maxIter)[2:10]
#set_joint_positions(robot_id, finger_joints, [0.04, 0.04])
s.step()
keys = p.getKeyboardEvents()
for k, v in keys.items():
if (k == p.B3G_RIGHT_ARROW and (v & p.KEY_IS_DOWN)):
x += 0.01
if (k == p.B3G_LEFT_ARROW and (v & p.KEY_IS_DOWN)):
x -= 0.01
if (k == p.B3G_UP_ARROW and (v & p.KEY_IS_DOWN)):
y += 0.01
if (k == p.B3G_DOWN_ARROW and (v & p.KEY_IS_DOWN)):
y -= 0.01
if (k == ord('z') and (v & p.KEY_IS_DOWN)):
z += 0.01
if (k == ord('x') and (v & p.KEY_IS_DOWN)):
z -= 0.01
p.resetBasePositionAndOrientation(marker, [x, y, z], [0, 0, 0, 1])
s.disconnect()
def test_simulator():
download_assets()
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
obj = YCBObject('006_mustard_bottle')
for i in range(10):
s.import_object(obj)
obj = YCBObject('002_master_chef_can')
for i in range(10):
s.import_object(obj)
for i in range(1000):
s.step()
s.disconnect()
from gibson2.utils.motion_planning_wrapper import MotionPlanningWrapper
from gibson2.envs.igibson_env import iGibsonEnv
###########################script starts#########################################
#################################################################################
###start the gui###
#p.connect(p.GUI)
######################initialize gravity and time###############################
#p.setGravity(0,0,-9.8)
#p.setTimeStep(1./360.)
############################load a scene#######################################
############To load a Interactive Indoor scene using a simulator###############
s = Simulator(mode='gui', image_width=512, image_height=512)
scene = InteractiveIndoorScene('Rs_int',
texture_randomization=False,
object_randomization=False)
s.import_ig_scene(scene)
################################################################################
##we keep importing things to the simulator s##################
################################################################################
#scene=InteractiveIndoorScene()
#scene=StadiumScene()
#scene.load()
#######################loading a floor#########################################
#print(pybullet_data.getDataPath())
#floor=os.path.join(pybullet_data.getDataPath(),"mjcf/ground_plane.xml")
