tasknet demo1 updated for iGv1

examples/demo/mouse_interaction.py

@@ -24,7 +24,7 @@ def test_import_igsdf():
 
     scene = InteractiveIndoorScene(
         'Rs_int', texture_randomization=False, object_randomization=False)
-    # scene._set_first_n_objects(10)
+    scene._set_first_n_objects(5)
     settings = MeshRendererSettings(env_texture_filename=hdr_texture,
                                     env_texture_filename2=hdr_texture2,
                                     env_texture_filename3=background_texture,

examples/demo/mouse_interaction_placesetting.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+from gibson2.simulator import Simulator
+from gibson2.scenes.igibson_indoor_scene import InteractiveIndoorScene
+from gibson2.utils.utils import parse_config
+from gibson2.render.mesh_renderer.mesh_renderer_cpu import MeshRendererSettings
+from gibson2.objects.ycb_object import YCBObject 
+import os
+import gibson2
+import time
+import random
+import sys
+
+# human interaction demo
+
+
+def test_import_igsdf():
+    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(
+        'Rs_int', texture_randomization=False, object_randomization=False)
+    # scene._set_first_n_objects(10)
+    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.viewer.min_cam_z = 1.0
+
+    s.import_ig_scene(scene)
+
+    # Add objects 
+    # obj1 = YCBObject(filename=
+
+    while True:
+        start = time.time()
+        s.step()
+        end = time.time()
+        print("Elapsed time: ", end - start)
+        print("Frequency: ", 1 / (end - start))
+    s.disconnect()
+    print("end")
+
+
+def main():
+    test_import_igsdf()
+
+
+if __name__ == "__main__":
+    main()

gibson2/render/viewer.py

@@ -70,6 +70,7 @@ def create_visual_object(self):
             radius=0.04, rgba_color=[0, 0, 1, 1])
         self.constraint_marker2 = VisualMarker(visual_shape=p.GEOM_CAPSULE, radius=0.01, length=3,
                                                initial_offset=[0, 0, -1.5], rgba_color=[0, 0, 1, 1])
+        print('SIMULATOR:', self.simulator)
         if self.simulator is not None:
             self.simulator.import_object(
                 self.constraint_marker2, use_pbr=False)

gibson2/simulator.py

@@ -109,7 +109,8 @@ def add_viewer(self):
         if self.use_vr_renderer:
             self.viewer = ViewerVR()
         else:
-            self.viewer = Viewer()
+            # self.viewer = Viewer()
+            self.viewer = Viewer(simulator=self, renderer=self.renderer)
         self.viewer.renderer = self.renderer
 
     def reload(self):
@@ -151,17 +152,15 @@ def load(self):
         p.setPhysicsEngineParameter(enableFileCaching=0)
         print("PyBullet Logging Information******************")
 
-        if (self.use_ig_renderer or self.use_vr_renderer) and not self.render_to_tensor:
-            self.add_viewer()
 
         self.visual_objects = {}
         self.robots = []
         self.scene = None
         self.next_class_id = 0
-
-        if self.use_ig_renderer and not self.render_to_tensor:
+        if (self.use_ig_renderer or self.use_vr_renderer) and not self.render_to_tensor:
             self.add_viewer()
 
+
     def optimize_vertex_and_texture(self):
         self.renderer.optimize_vertex_and_texture()
 

gibson2/task/task_base.py

@@ -1,37 +1,54 @@
+import os 
+
 import tasknet as tn 
 from tasknet.task_base import TaskNetTask
+import gibson2
 from gibson2.simulator import Simulator
 from gibson2.scenes.igibson_indoor_scene import InteractiveIndoorScene
 from gibson2.render.mesh_renderer.mesh_renderer_cpu import MeshRendererSettings 
-
-
-scene_path = 'd:\\gibson2_assets\\gibson_v2_selected\\'         # TODO where to source this from? 
-scene_path = 'd:\\ig_dataset\\scenes'
+from gibson2.objects.articulated_object import URDFObject
 
 
 class iGTNTaskInstance(TaskNetTask):
-    def __init__(self, atus_activity, simulator):
+    def __init__(self, atus_activity):
         super().__init__(atus_activity)
-        self.simulator = simulator 
 
     def initialize_scene(self):             # NOTE can't have the same method name right 
         '''
         Get scene populated with objects such that scene satisfies initial conditions 
         '''
-        self.scene = self.initialize(scene_path, InteractiveIndoorScene)
-        self.simulator.import_scene(self.scene)
+        self.scene_name, self.scene = self.initialize(InteractiveIndoorScene, URDFObject)
+
+        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', self.scene_name, 'layout', 'floor_lighttype_0.png')
+        background_texture = os.path.join(
+            gibson2.ig_dataset_path, 'scenes', 'background', 'urban_street_01.jpg')
+
+        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)
+        self.simulator = Simulator(mode='iggui', image_width=960, image_height=720, device_idx=0, rendering_settings=settings)
+
+        self.simulator.viewer.min_cam_z = 1.0
+        self.simulator.import_ig_scene(self.scene)
 
 
 def main():
-    settings = MeshRendererSettings(enable_shadow=True, msaa=False)
-    sim = Simulator(mode='gui', image_width=1000, image_height=1000, device_idx=0, rendering_settings=settings)
-    igtn_task_instance = iGTNTaskInstance('demo1', sim)
+    igtn_task_instance = iGTNTaskInstance('demo1')
     igtn_task_instance.initialize_scene()
-    for i in range(30):
-        sim.step()
-    print('TASK SUCCESS:', igtn_task_instance.check_success())
-    sim.disconnect()
 
+    for i in range(100):
+        igtn_task_instance.simulator.step()
+    print('TASK SUCCESS:', igtn_task_instance.check_success())
+    igtn_task_instance.simulator.disconnect()
+
 
 if __name__ == '__main__':
     main()