diff --git a/mani_skill2/utils/README.md b/mani_skill2/utils/README.md new file mode 100644 index 000000000..dfafb236a --- /dev/null +++ b/mani_skill2/utils/README.md @@ -0,0 +1,12 @@ +# ManiSkill Utilities + +Description of the main modules are as follows: + +`building/` - All useful utility code for building a task and/or scene. Includes functions for loading assets and articulations from various datasets, and randomization functions useful for randomizing task initialization. +`scene_builder/` - Contains code relating to the `SceneBuilder` class and provides some prebuilt scene builders for a standard table top scene, a fully articulated hand-made kitchen scene, as well as scenes from AI2THOR. + +`geometry/` - Various functions for working with geometry, from sampling primitive shapes to getting axis-aligned bounding boxes of articulations/actors. + +`wrappers/` - Wrapper classes that provide additional functionality such as recording videos/episodes, modifying observation spaces, as well as adapting the environment API so that RL libraries such as [Stable Baselines 3](https://github.com/DLR-RM/stable-baselines3) work out of the box. + +`visualization/` - Visualization tools \ No newline at end of file diff --git a/mani_skill2/utils/building/actors.py b/mani_skill2/utils/building/actors.py new file mode 100644 index 000000000..e5d3a650e --- /dev/null +++ b/mani_skill2/utils/building/actors.py @@ -0,0 +1,275 @@ +""" +Useful utilities for adding any object and geometry into a scene +""" + +import os.path as osp +from pathlib import Path +from typing import Dict + +import numpy as np +import sapien +import sapien.physx as physx +import sapien.render +import transforms3d + +from mani_skill2 import ASSET_DIR +from mani_skill2.utils.io_utils import load_json + +# map model dataset to a database of models +model_dbs: Dict[str, Dict[str, Dict]] = {} + + +# Primitive Shapes +def build_cube( + scene: sapien.Scene, + half_size: float, + color, + name: str, + dynamic: bool = True, + add_collision: bool = True, +): + builder = scene.create_actor_builder() + if add_collision: + builder.add_box_collision( + half_size=[half_size] * 3, + ) + builder.add_box_visual( + half_size=[half_size] * 3, + material=sapien.render.RenderMaterial( + base_color=color, + ), + ) + if dynamic: + actor = builder.build(name=name) + else: + actor = builder.build_static(name=name) + return actor + + +def build_box( + scene: sapien.Scene, + half_sizes, + color, + name: str, + dynamic: bool = True, + add_collision: bool = True, +): + builder = scene.create_actor_builder() + if add_collision: + builder.add_box_collision( + half_size=half_sizes, + ) + builder.add_box_visual( + half_size=half_sizes, + material=sapien.render.RenderMaterial( + base_color=color, + ), + ) + if dynamic: + actor = builder.build(name=name) + else: + actor = builder.build_static(name=name) + return actor + + +def build_sphere( + scene: sapien.Scene, + radius: float, + color, + name: str, + dynamic: bool = True, + add_collision: bool = True, +): + builder = scene.create_actor_builder() + if add_collision: + builder.add_sphere_collision( + radius=radius, + ) + builder.add_sphere_visual( + radius=radius, + material=sapien.render.RenderMaterial( + base_color=color, + ), + ) + if dynamic: + actor = builder.build(name=name) + else: + actor = builder.build_static(name=name) + return actor + + +def build_twocolor_peg( + scene: sapien.Scene, + length, + width, + color_1, + color_2, + name: str, + dynamic: bool = True, + add_collision: bool = True, +): + builder = scene.create_actor_builder() + if add_collision: + builder.add_box_collision( + half_size=[length, width, width], + ) + builder.add_box_visual( + pose=sapien.Pose(p=[-length / 2, 0, 0]), + half_size=[length / 2, width, width], + material=sapien.render.RenderMaterial( + base_color=color_1, + ), + ) + builder.add_box_visual( + pose=sapien.Pose(p=[length / 2, 0, 0]), + half_size=[length / 2, width, width], + material=sapien.render.RenderMaterial( + base_color=color_2, + ), + ) + if dynamic: + actor = builder.build(name=name) + else: + actor = builder.build_static(name=name) + return actor + + +RED_COLOR = [220 / 255, 12 / 255, 12 / 255, 1] +BLUE_COLOR = [0 / 255, 44 / 255, 193 / 255, 1] +GREEN_COLOR = [17 / 255, 190 / 255, 70 / 255, 1] + + +def build_fourcolor_peg( + scene: sapien.Scene, + length, + width, + name: str, + color_1=RED_COLOR, + color_2=BLUE_COLOR, + color_3=GREEN_COLOR, + color_4=[1, 1, 1, 1], + dynamic: bool = True, + add_collision: bool = True, +): + builder = scene.create_actor_builder() + if add_collision: + builder.add_box_collision( + half_size=[length, width, width], + ) + builder.add_box_visual( + pose=sapien.Pose(p=[-length / 2, -width / 2, 0]), + half_size=[length / 2, width / 2, width], + material=sapien.render.RenderMaterial( + base_color=color_1, + ), + ) + builder.add_box_visual( + pose=sapien.Pose(p=[length / 2, -width / 2, 0]), + half_size=[length / 2, width / 2, width], + material=sapien.render.RenderMaterial( + base_color=color_2, + ), + ) + builder.add_box_visual( + pose=sapien.Pose(p=[-length / 2, width / 2, 0]), + half_size=[length / 2, width / 2, width], + material=sapien.render.RenderMaterial( + base_color=color_3, + ), + ) + builder.add_box_visual( + pose=sapien.Pose(p=[length / 2, width / 2, 0]), + half_size=[length / 2, width / 2, width], + material=sapien.render.RenderMaterial( + base_color=color_4, + ), + ) + if dynamic: + actor = builder.build(name=name) + else: + actor = builder.build_static(name=name) + return actor + + +### Load individual assets ### + + +def build_actor(model_id: str, scene: sapien.Scene, name: str): + # TODO (stao): parse model id and determine from which dataset to pull asset from + # e.g. YCB or our own sapien asset database in the future + pass + + +def build_actor_ycb( + model_id: str, + scene: sapien.Scene, + name: str, + root_dir=ASSET_DIR / "mani_skill2_ycb", +): + if "YCB" not in model_dbs: + _load_ycb_dataset() + model_db = model_dbs["YCB"]["model_data"] # TODO (stao): remove hardcode + + builder = scene.create_actor_builder() + + density = model_db[model_id].get("density", 1000) + model_scales = model_db[model_id].get("scales", [1.0]) + scale = model_scales[0] + physical_material = None + + model_dir = Path(root_dir) / "models" / model_id + collision_file = str(model_dir / "collision.obj") + builder.add_multiple_convex_collisions_from_file( + filename=collision_file, + scale=[scale] * 3, + material=physical_material, + density=density, + decomposition="coacd", + ) + + visual_file = str(model_dir / "textured.obj") + builder.add_visual_from_file(filename=visual_file, scale=[scale] * 3) + actor = builder.build(name=name) + return actor + + +def _load_ycb_dataset(): + # load YCB if used + model_dbs["YCB"] = { + "model_data": load_json(ASSET_DIR / "mani_skill2_ycb/info_pick_v0.json"), + "builder": build_actor_ycb, + } + + +def build_actor_ai2( + model_id: str, + scene: sapien.Scene, + name: str, + kinematic: bool = False, +): + model_path = ( + Path(ASSET_DIR) + / "scene_datasets/ai2thor/ai2thorhab-uncompressed/assets/objects" + / f"{model_id}.glb" + ) + actor_id = name + builder = scene.create_actor_builder() + builder.add_visual_from_file(str(model_path)) + if kinematic: + builder.add_nonconvex_collision_from_file(str(model_path)) + actor = builder.build_kinematic(name=actor_id) + else: + builder.add_multiple_convex_collisions_from_file( + str(model_path), decomposition="coacd" + ) + actor = builder.build(name=actor_id) + + q = transforms3d.quaternions.axangle2quat(np.array([1, 0, 0]), theta=np.deg2rad(90)) + pose = sapien.Pose(q=q) + actor.set_pose(pose) + aabb = actor.find_component_by_type( + sapien.render.RenderBodyComponent + ).compute_global_aabb_tight() + height = aabb[1, 1] - aabb[0, 1] + actor.set_pose(sapien.Pose(p=[0, 0, 0], q=actor.pose.q)) + return actor diff --git a/mani_skill2/utils/building/articulations.py b/mani_skill2/utils/building/articulations.py new file mode 100644 index 000000000..a34237ea2 --- /dev/null +++ b/mani_skill2/utils/building/articulations.py @@ -0,0 +1,152 @@ +""" +Useful utilities for adding any object and geometry into a scene +""" + +import os.path as osp +from dataclasses import dataclass +from pathlib import Path +from typing import Dict, List, Union + +import numpy as np +import sapien +import sapien.physx as physx +import sapien.render +from sapien import Pose + +from mani_skill2 import ASSET_DIR, PACKAGE_ASSET_DIR +from mani_skill2.utils.geometry.trimesh_utils import ( + get_articulation_meshes, + merge_meshes, +) +from mani_skill2.utils.io_utils import load_json +from mani_skill2.utils.sapien_utils import apply_urdf_config, parse_urdf_config + + +@dataclass +class JointMetadata: + type: str + # semantic name of this joint + name: str + pass + + +@dataclass +class LinkMetadata: + # semantic name of this link (e.g. handle) + name: str + link: physx.PhysxArticulationLinkComponent + render_shapes: List[sapien.render.RenderShape] + pass + + +@dataclass +class ArticulationMetadata: + joints: Dict[str, JointMetadata] + links: Dict[str, LinkMetadata] + # a list of all movable links + movable_links: List[str] + + +model_dbs: Dict[str, Dict[str, Dict]] = {} + +# TODO optimization: we can cache some results in building articulations and reuse them + + +### Build articulations ### +def build_partnet_mobility_articulation( + scene: sapien.Scene, + model_id: str, + fix_root_link=True, + urdf_config: dict = None, + set_object_on_ground=True, +): + """ + Builds a physx.PhysxArticulation object into the scene and returns metadata containing annotations of the object's links and joints + + Args: + scene: the sapien scene to add articulation to + model_id: the id of the partnet mobility model to load + + set_object_on_ground: whether to change the pose of the built articulation such that the object is settled on the ground (at z = 0) + """ + if "PartnetMobility" not in model_dbs: + _load_partnet_mobility_dataset() + + metadata = model_dbs["PartnetMobility"]["model_data"][model_id] + + loader = scene.create_urdf_loader() + loader.fix_root_link = fix_root_link + loader.scale = metadata["scale"] + loader.load_multiple_collisions_from_file = True + + urdf_path = model_dbs["PartnetMobility"]["model_urdf_paths"][model_id] + urdf_config = parse_urdf_config(urdf_config or {}, scene) + apply_urdf_config(loader, urdf_config) + articulation: physx.PhysxArticulation = loader.load(str(urdf_path)) + + metadata = ArticulationMetadata(joints=dict(), links=dict(), movable_links=[]) + target_links = [] + target_joints = [] + target_handles = [] + + # NOTE(jigu): links and their parent joints. + for link, joint in zip(articulation.get_links(), articulation.get_joints()): + metadata.joints[joint.name] = JointMetadata(type=joint.type, name="") + render_body = link.entity.find_component_by_type( + sapien.render.RenderBodyComponent + ) + render_shapes = [] + if render_body is not None: + render_shapes = render_body.render_shapes + metadata.links[link.name] = LinkMetadata( + name=None, link=link, render_shapes=render_shapes + ) + if joint.type != "fixed": + metadata.movable_links.append(link.name) + + # parse semantic information about each link and the joint controlling it + with open( + ASSET_DIR / "partnet_mobility/dataset" / str(model_id) / "semantics.txt", "r" + ) as f: + for line in f.readlines(): + link_id, joint_type, link_name = line[:-1].split(" ") + metadata.links[link_id].name = link_name + metadata.joints[f"joint_{link_id.split('_')[1]}"].name = joint_type + + if set_object_on_ground: + qlimits = articulation.get_qlimits() # [N, 2] + assert not np.isinf(qlimits).any(), qlimits + qpos = np.ascontiguousarray(qlimits[:, 0]) + articulation.set_qpos(qpos) + articulation.set_pose(Pose()) + bounds = merge_meshes(get_articulation_meshes(articulation)).bounds + articulation.set_pose(Pose([0, 0, -bounds[0, 2]])) + + # for link in self.articulation_metadata.movable_links: + # link_name = self.articulation_metadata.links[link].name + # b = self.articulation_metadata.joints[f"joint_{link.split('_')[1]}"].type + # c = self.articulation_metadata.joints[f"joint_{link.split('_')[1]}"].name + # print(link, link_name, b, c) + + return articulation, metadata + + +def _load_partnet_mobility_dataset(): + # load PartnetMobility + model_dbs["PartnetMobility"] = { + "model_data": load_json( + PACKAGE_ASSET_DIR / "partnet_mobility/meta/info_cabinet_drawer_train.json" + ), + "builder": build_partnet_mobility_articulation, + } + + def find_urdf_path(model_id): + model_dir = ASSET_DIR / "partnet_mobility/dataset" / str(model_id) + urdf_names = ["mobility_cvx.urdf", "mobility_fixed.urdf"] + for urdf_name in urdf_names: + urdf_path = model_dir / urdf_name + if urdf_path.exists(): + return urdf_path + model_dbs["PartnetMobility"]["model_urdf_paths"] = { + k: find_urdf_path(k) for k in model_dbs["PartnetMobility"]["model_data"].keys() + } diff --git a/mani_skill2/utils/building/assets/floor_texture.png b/mani_skill2/utils/building/assets/floor_texture.png new file mode 100644 index 000000000..a9fc5060e Binary files /dev/null and b/mani_skill2/utils/building/assets/floor_texture.png differ diff --git a/mani_skill2/utils/building/assets/tiled_floor.obj b/mani_skill2/utils/building/assets/tiled_floor.obj new file mode 100644 index 000000000..16ad2e2c4 --- /dev/null +++ b/mani_skill2/utils/building/assets/tiled_floor.obj @@ -0,0 +1,15 @@ +# Blender 4.0.2 +# www.blender.org +mtllib tiled_floor.mtl +o Plane +v -1.000000 0.000000 1.000000 +v 1.000000 0.000000 1.000000 +v -1.000000 0.000000 -1.000000 +v 1.000000 0.000000 -1.000000 +vn -0.0000 1.0000 -0.0000 +vt 0.000000 0.000000 +vt 9.223548 0.000000 +vt 9.223548 9.250000 +vt 0.000000 9.250000 +s 0 +f 1/1/1 2/2/1 4/3/1 3/4/1 diff --git a/mani_skill2/utils/building/ground.py b/mani_skill2/utils/building/ground.py new file mode 100644 index 000000000..bb6e89443 --- /dev/null +++ b/mani_skill2/utils/building/ground.py @@ -0,0 +1,31 @@ +""" +Useful utilities for creating the ground of a scene +""" +import os.path as osp + +import sapien +import sapien.render + + +def build_tesselated_square_floor(scene: sapien.Scene, altitude=0): + ground = scene.create_actor_builder() + render_half_size = 10 + rend_mtl = sapien.render.RenderMaterial( + base_color=[0.06, 0.08, 0.12, 1], + metallic=0.0, + roughness=0.9, + specular=0.8, + ) + rend_mtl.diffuse_texture = sapien.render.RenderTexture2D( + osp.join(osp.dirname(__file__), "assets/floor_texture.png") + ) + ground.add_visual_from_file( + osp.join(osp.dirname(__file__), "assets/tiled_floor.obj"), + pose=sapien.Pose(p=[0, 0, altitude], q=[0.7071068, 0.7071068, 0, 0]), + scale=[render_half_size, 1, render_half_size], + material=rend_mtl, + ) + ground.add_plane_collision( + sapien.Pose(p=[0, 0, altitude], q=[0.7071068, 0, -0.7071068, 0]), + ) + return ground.build_static(name="ground") diff --git a/mani_skill2/utils/building/randomization.py b/mani_skill2/utils/building/randomization.py new file mode 100644 index 000000000..786afcf19 --- /dev/null +++ b/mani_skill2/utils/building/randomization.py @@ -0,0 +1,20 @@ +""" +Utilities for generating randomized values like poses as well as useful samplers to sample e.g. object positions without collision +""" + +import numpy as np +import transforms3d + + +def random_quaternion(rng: np.random.RandomState): + # Uniform sample a quaternion + q = transforms3d.quaternions.axangle2quat(rng.rand(3), 2 * np.pi * rng.rand()) + return q + + +def random_position(rng: np.random.RandomState): + pass + + +def generate_random_reachable_position(rng: np.random.RandomState, source, max_dist): + pass diff --git a/mani_skill2/utils/geometry/__init__.py b/mani_skill2/utils/geometry/__init__.py new file mode 100644 index 000000000..9854a4218 --- /dev/null +++ b/mani_skill2/utils/geometry/__init__.py @@ -0,0 +1 @@ +from .geometry import * diff --git a/mani_skill2/utils/bounding_cylinder.py b/mani_skill2/utils/geometry/bounding_cylinder.py similarity index 100% rename from mani_skill2/utils/bounding_cylinder.py rename to mani_skill2/utils/geometry/bounding_cylinder.py diff --git a/mani_skill2/utils/geometry.py b/mani_skill2/utils/geometry/geometry.py similarity index 98% rename from mani_skill2/utils/geometry.py rename to mani_skill2/utils/geometry/geometry.py index 1aef5f1dd..d8b948f7a 100644 --- a/mani_skill2/utils/geometry.py +++ b/mani_skill2/utils/geometry/geometry.py @@ -12,7 +12,7 @@ Pose = Any from scipy.spatial.transform import Rotation -from mani_skill2.utils.bounding_cylinder import aabc +from mani_skill2.utils.geometry.bounding_cylinder import aabc def sample_on_unit_sphere(rng): diff --git a/mani_skill2/utils/trimesh_utils.py b/mani_skill2/utils/geometry/trimesh_utils.py similarity index 100% rename from mani_skill2/utils/trimesh_utils.py rename to mani_skill2/utils/geometry/trimesh_utils.py diff --git a/mani_skill2/utils/scene_builder/__init__.py b/mani_skill2/utils/scene_builder/__init__.py new file mode 100644 index 000000000..41a3d7c7a --- /dev/null +++ b/mani_skill2/utils/scene_builder/__init__.py @@ -0,0 +1,2 @@ +from .scene_builder import SceneBuilder +from .table import TableSceneBuilder diff --git a/mani_skill2/utils/scene_builder/ai2thor/__init__.py b/mani_skill2/utils/scene_builder/ai2thor/__init__.py new file mode 100644 index 000000000..75868365b --- /dev/null +++ b/mani_skill2/utils/scene_builder/ai2thor/__init__.py @@ -0,0 +1,6 @@ +from .variants import ( + ArchitecTHORSceneBuilder, + ProcTHORSceneBuilder, + RoboTHORSceneBuilder, + iTHORSceneBuilder, +) diff --git a/mani_skill2/utils/scene_builder/ai2thor/constants.py b/mani_skill2/utils/scene_builder/ai2thor/constants.py new file mode 100644 index 000000000..c2abcf82d --- /dev/null +++ b/mani_skill2/utils/scene_builder/ai2thor/constants.py @@ -0,0 +1,170 @@ +import json +import os.path as osp +from dataclasses import dataclass +from pathlib import Path +from typing import Dict, List, Type, Union + +from mani_skill2 import ASSET_DIR + +try: + with open( + str( + Path(ASSET_DIR) + / "scene_datasets/ai2thor/ai2thor-hab/configs/object_semantic_id_mapping.json" + ), + "r", + ) as f: + OBJECT_SEMANTIC_ID_MAPPING = json.load(f) + SEMANTIC_ID_OBJECT_MAPPING = dict() + for k in OBJECT_SEMANTIC_ID_MAPPING: + SEMANTIC_ID_OBJECT_MAPPING[OBJECT_SEMANTIC_ID_MAPPING[k]] = k + MOVABLE_OBJECT_IDS = [ + "Apple", + "AppleSliced", + "Tomato", + "TomatoSliced", + "Bread", + "BreadSliced", + "Chair", + "HousePlant", + "" "Pot", + "Pan", + "Knife", + "Fork", + "Spoon", + "Bowl", + "Toaster", + "CoffeeMachine", + "Egg", + "Lettuce", + "Potato", + "Mug", + "Plate", + "GarbageCan", + "Omelette", + "EggShell", + "EggCracked", + "Container", + "Cup", + "ButterKnife", + "PotatoSliced", + "MugFilled", + "BowlFilled", + "LettuceSliced", + "ContainerFull", + "BowlDirty", + "Sandwich", + "TissueBox", + "VacuumCleaner", + "WateringCan", + "Laptop", + "RemoteControl", + "Box", + "Newspaper", + "KeyChain", + "Dirt", + "CellPhone", + "CreditCard", + "Cloth", + "Candle", + "Plunger", + "ToiletPaper", + "ToiletPaperHanger", + "SoapBottle", + "SoapBottleFilled", + "SoapBar", + "ShowerDoor", + "SprayBottle", + "ScrubBrush", + "ToiletPaperRoll", + "Lamp", + "Book", + "SportsEquipment", + "Pen", + "Pencil", + "Watch", + "MiscTableObject", + "BaseballBat", + "BasketBall", + "Boots", + "Bottle", + "DishSponge", + "FloorLamp", + "Kettle", + "Lighter", + "PanLid", + "PaperTowelRoll", + "PepperShaker", + "PotLid", + "SaltShaker", + "Safe", + "SmallMirror", + "Spatula", + "TeddyBear", + "TennisRacket", + "Tissue", + "Vase", + "MassObjectSpawner", + "MassScale", + "Footstool", + "Pillow", + "Cart", + "DeskLamp", + "CD", + "Poster", + "HandTowel", + "Ladle", + "WineBottle", + "AluminumFoil", + "DogBed", + "Dumbbell", + "TableTopDecor", + "RoomDecor", + "Stool", + "GarbageBag", + "Desktop", + "TargetCircle", + ] +except: + pass + + +@dataclass +class SceneConfig: + config_file: str + source: str + + +@dataclass +class SceneDataset: + metadata_path: str + dataset_path: str + + +# This maps a scene set e.g. ProcTHOR to an adapter, metadata, and where the scenes are saved to. The adapter is a class that can load the scene set +SCENE_SOURCE_TO_DATASET: Dict[str, SceneDataset] = { + "ProcTHOR": SceneDataset( + metadata_path="ProcTHOR.json", + dataset_path=osp.join( + ASSET_DIR, "scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR" + ), + ), + "ArchitecTHOR": SceneDataset( + metadata_path="ArchitecTHOR.json", + dataset_path=osp.join( + ASSET_DIR, "scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ArchitecTHOR" + ), + ), + "iTHOR": SceneDataset( + metadata_path="iTHOR.json", + dataset_path=osp.join( + ASSET_DIR, "scene_datasets/ai2thor/ai2thor-hab/configs/scenes/iTHOR" + ), + ), + "RoboTHOR": SceneDataset( + metadata_path="RoboTHOR.json", + dataset_path=osp.join( + ASSET_DIR, "scene_datasets/ai2thor/ai2thor-hab/configs/scenes/RoboTHOR" + ), + ), +} diff --git a/mani_skill2/utils/scene_builder/ai2thor/metadata/ArchitecTHOR.json b/mani_skill2/utils/scene_builder/ai2thor/metadata/ArchitecTHOR.json new file mode 100644 index 000000000..6bbefaed0 --- /dev/null +++ b/mani_skill2/utils/scene_builder/ai2thor/metadata/ArchitecTHOR.json @@ -0,0 +1,14 @@ +{ + "scenes": [ + "./ArchitecTHOR-Test-03.scene_instance.json", + "./ArchitecTHOR-Val-02.scene_instance.json", + "./ArchitecTHOR-Val-01.scene_instance.json", + "./ArchitecTHOR-Test-02.scene_instance.json", + "./ArchitecTHOR-Val-04.scene_instance.json", + "./ArchitecTHOR-Val-03.scene_instance.json", + "./ArchitecTHOR-Val-00.scene_instance.json", + "./ArchitecTHOR-Test-01.scene_instance.json", + "./ArchitecTHOR-Test-04.scene_instance.json", + "./ArchitecTHOR-Test-00.scene_instance.json" + ] +} \ No newline at end of file diff --git a/mani_skill2/utils/scene_builder/ai2thor/metadata/ProcTHOR.json b/mani_skill2/utils/scene_builder/ai2thor/metadata/ProcTHOR.json new file mode 100644 index 000000000..35eaf6008 --- /dev/null +++ b/mani_skill2/utils/scene_builder/ai2thor/metadata/ProcTHOR.json @@ -0,0 +1,12005 @@ +{ + "scenes": [ + "./2/ProcTHOR-Train-293.scene_instance.json", + 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"./c/ProcTHOR-Val-269.scene_instance.json", + "./c/ProcTHOR-Val-697.scene_instance.json", + "./c/ProcTHOR-Val-275.scene_instance.json", + "./c/ProcTHOR-Val-624.scene_instance.json", + "./c/ProcTHOR-Val-160.scene_instance.json", + "./c/ProcTHOR-Val-165.scene_instance.json", + "./c/ProcTHOR-Val-623.scene_instance.json", + "./c/ProcTHOR-Val-400.scene_instance.json", + "./c/ProcTHOR-Val-792.scene_instance.json", + "./c/ProcTHOR-Val-972.scene_instance.json", + "./c/ProcTHOR-Val-324.scene_instance.json", + "./c/ProcTHOR-Val-527.scene_instance.json", + "./c/ProcTHOR-Val-616.scene_instance.json", + "./c/ProcTHOR-Val-514.scene_instance.json", + "./c/ProcTHOR-Val-638.scene_instance.json", + "./c/ProcTHOR-Val-668.scene_instance.json", + "./c/ProcTHOR-Val-600.scene_instance.json", + "./c/ProcTHOR-Val-56.scene_instance.json", + "./c/ProcTHOR-Val-893.scene_instance.json", + "./c/ProcTHOR-Val-913.scene_instance.json", + "./c/ProcTHOR-Val-5.scene_instance.json", + "./c/ProcTHOR-Val-556.scene_instance.json", + "./c/ProcTHOR-Val-78.scene_instance.json", + "./c/ProcTHOR-Val-615.scene_instance.json", + "./c/ProcTHOR-Val-42.scene_instance.json", + "./c/ProcTHOR-Val-318.scene_instance.json", + "./c/ProcTHOR-Val-563.scene_instance.json", + "./c/ProcTHOR-Val-4.scene_instance.json", + "./c/ProcTHOR-Val-767.scene_instance.json", + "./c/ProcTHOR-Val-194.scene_instance.json", + "./c/ProcTHOR-Val-785.scene_instance.json", + "./c/ProcTHOR-Val-653.scene_instance.json", + "./c/ProcTHOR-Val-217.scene_instance.json", + "./c/ProcTHOR-Val-830.scene_instance.json", + "./c/ProcTHOR-Val-790.scene_instance.json", + "./c/ProcTHOR-Val-912.scene_instance.json", + "./c/ProcTHOR-Val-582.scene_instance.json", + "./c/ProcTHOR-Val-179.scene_instance.json", + "./c/ProcTHOR-Val-407.scene_instance.json", + "./c/ProcTHOR-Val-691.scene_instance.json", + "./c/ProcTHOR-Val-777.scene_instance.json", + "./c/ProcTHOR-Val-212.scene_instance.json", + "./c/ProcTHOR-Val-315.scene_instance.json", + "./c/ProcTHOR-Val-114.scene_instance.json", + "./c/ProcTHOR-Val-221.scene_instance.json", + "./c/ProcTHOR-Val-7.scene_instance.json", + "./c/ProcTHOR-Val-599.scene_instance.json", + "./c/ProcTHOR-Val-847.scene_instance.json", + "./c/ProcTHOR-Val-517.scene_instance.json", + "./c/ProcTHOR-Val-40.scene_instance.json", + "./c/ProcTHOR-Val-567.scene_instance.json", + "./c/ProcTHOR-Val-802.scene_instance.json", + "./c/ProcTHOR-Val-399.scene_instance.json", + "./c/ProcTHOR-Val-266.scene_instance.json", + "./c/ProcTHOR-Val-811.scene_instance.json", + "./c/ProcTHOR-Val-109.scene_instance.json", + "./c/ProcTHOR-Val-249.scene_instance.json", + "./c/ProcTHOR-Val-322.scene_instance.json", + "./c/ProcTHOR-Val-862.scene_instance.json", + "./c/ProcTHOR-Val-510.scene_instance.json", + "./c/ProcTHOR-Val-801.scene_instance.json", + "./c/ProcTHOR-Val-662.scene_instance.json", + "./c/ProcTHOR-Val-433.scene_instance.json", + "./c/ProcTHOR-Val-448.scene_instance.json", + "./c/ProcTHOR-Val-621.scene_instance.json", + "./c/ProcTHOR-Val-495.scene_instance.json", + "./c/ProcTHOR-Val-466.scene_instance.json", + "./c/ProcTHOR-Val-595.scene_instance.json", + "./c/ProcTHOR-Val-458.scene_instance.json", + "./c/ProcTHOR-Val-157.scene_instance.json", + "./c/ProcTHOR-Val-583.scene_instance.json", + "./c/ProcTHOR-Val-982.scene_instance.json", + "./c/ProcTHOR-Val-232.scene_instance.json", + "./c/ProcTHOR-Val-259.scene_instance.json", + "./c/ProcTHOR-Val-230.scene_instance.json", + "./c/ProcTHOR-Val-813.scene_instance.json", + "./c/ProcTHOR-Val-635.scene_instance.json", + "./c/ProcTHOR-Val-361.scene_instance.json", + "./c/ProcTHOR-Val-356.scene_instance.json", + "./c/ProcTHOR-Val-490.scene_instance.json", + "./c/ProcTHOR-Val-243.scene_instance.json", + "./c/ProcTHOR-Val-928.scene_instance.json", + "./c/ProcTHOR-Val-277.scene_instance.json" + ] + +} \ No newline at end of file diff --git a/mani_skill2/utils/scene_builder/ai2thor/metadata/RoboTHOR.json b/mani_skill2/utils/scene_builder/ai2thor/metadata/RoboTHOR.json new file mode 100644 index 000000000..c9e458a6b --- /dev/null +++ b/mani_skill2/utils/scene_builder/ai2thor/metadata/RoboTHOR.json @@ -0,0 +1,80 @@ +{ + "scenes": [ + "./FloorPlan_Train3_3.scene_instance.json", + "./FloorPlan_Train11_2.scene_instance.json", + "./FloorPlan_Train5_2.scene_instance.json", + "./FloorPlan_Val1_2.scene_instance.json", + "./FloorPlan_Train1_4.scene_instance.json", + "./FloorPlan_Train11_3.scene_instance.json", + "./FloorPlan_Train2_5.scene_instance.json", + "./FloorPlan_Val2_4.scene_instance.json", + "./FloorPlan_Train3_5.scene_instance.json", + "./FloorPlan_Train12_5.scene_instance.json", + "./FloorPlan_Train5_3.scene_instance.json", + "./FloorPlan_Train12_2.scene_instance.json", + "./FloorPlan_Train4_3.scene_instance.json", + "./FloorPlan_Train1_3.scene_instance.json", + "./FloorPlan_Val1_1.scene_instance.json", + "./FloorPlan_Train1_1.scene_instance.json", + "./FloorPlan_Train5_1.scene_instance.json", + "./FloorPlan_Train5_5.scene_instance.json", + "./FloorPlan_Train3_2.scene_instance.json", + "./FloorPlan_Train8_2.scene_instance.json", + "./FloorPlan_Val3_2.scene_instance.json", + "./FloorPlan_Train6_3.scene_instance.json", + "./FloorPlan_Train9_5.scene_instance.json", + "./FloorPlan_Val1_4.scene_instance.json", + "./FloorPlan_Train10_1.scene_instance.json", + "./FloorPlan_Train2_1.scene_instance.json", + "./FloorPlan_Train11_4.scene_instance.json", + "./FloorPlan_Train8_5.scene_instance.json", + "./FloorPlan_Train7_3.scene_instance.json", + "./FloorPlan_Train9_4.scene_instance.json", + "./FloorPlan_Train3_1.scene_instance.json", + "./FloorPlan_Train6_2.scene_instance.json", + "./FloorPlan_Train4_5.scene_instance.json", + "./FloorPlan_Train4_2.scene_instance.json", + "./FloorPlan_Train9_3.scene_instance.json", + "./FloorPlan_Val1_3.scene_instance.json", + "./FloorPlan_Train4_1.scene_instance.json", + "./FloorPlan_Train12_4.scene_instance.json", + "./FloorPlan_Train9_1.scene_instance.json", + "./FloorPlan_Train8_1.scene_instance.json", + "./FloorPlan_Val3_5.scene_instance.json", + "./FloorPlan_Val2_2.scene_instance.json", + "./FloorPlan_Train10_2.scene_instance.json", + "./FloorPlan_Train6_5.scene_instance.json", + "./FloorPlan_Val2_1.scene_instance.json", + "./FloorPlan_Train12_3.scene_instance.json", + "./FloorPlan_Train7_4.scene_instance.json", + "./FloorPlan_Train2_4.scene_instance.json", + "./FloorPlan_Train3_4.scene_instance.json", + "./FloorPlan_Train9_2.scene_instance.json", + "./FloorPlan_Train7_5.scene_instance.json", + "./FloorPlan_Train10_3.scene_instance.json", + "./FloorPlan_Train2_2.scene_instance.json", + "./FloorPlan_Train8_3.scene_instance.json", + "./FloorPlan_Train1_2.scene_instance.json", + "./FloorPlan_Val2_5.scene_instance.json", + "./FloorPlan_Train7_2.scene_instance.json", + "./FloorPlan_Train10_4.scene_instance.json", + "./FloorPlan_Train8_4.scene_instance.json", + "./FloorPlan_Train2_3.scene_instance.json", + "./FloorPlan_Val1_5.scene_instance.json", + "./FloorPlan_Train4_4.scene_instance.json", + "./FloorPlan_Train1_5.scene_instance.json", + "./FloorPlan_Val3_4.scene_instance.json", + "./FloorPlan_Train6_4.scene_instance.json", + "./FloorPlan_Val2_3.scene_instance.json", + "./FloorPlan_Train7_1.scene_instance.json", + "./FloorPlan_Train11_5.scene_instance.json", + "./FloorPlan_Train10_5.scene_instance.json", + "./FloorPlan_Train6_1.scene_instance.json", + "./FloorPlan_Train11_1.scene_instance.json", + "./FloorPlan_Val3_3.scene_instance.json", + "./FloorPlan_Val3_1.scene_instance.json", + "./FloorPlan_Train5_4.scene_instance.json", + "./FloorPlan_Train12_1.scene_instance.json" + ] + +} \ No newline at end of file diff --git a/mani_skill2/utils/scene_builder/ai2thor/metadata/download.py b/mani_skill2/utils/scene_builder/ai2thor/metadata/download.py new file mode 100644 index 000000000..27e8b8e12 --- /dev/null +++ b/mani_skill2/utils/scene_builder/ai2thor/metadata/download.py @@ -0,0 +1,21 @@ +""" +Run python mani_skill2/envs/scenes/adapters/hssd/download.py +""" + +import os.path as osp +import sys + +from huggingface_hub import login, snapshot_download + +from mani_skill2 import ASSET_DIR + +if __name__ == "__main__": + login(sys.argv[1]) + snapshot_download( + repo_id="hssd/ai2thor-hab", + repo_type="dataset", + local_dir=osp.join(ASSET_DIR, "scene_datasets/ai2thor"), + local_dir_use_symlinks=False, + allow_patterns=["**/*"], + resume_download=True, + ) diff --git a/mani_skill2/utils/scene_builder/ai2thor/metadata/iTHOR.json b/mani_skill2/utils/scene_builder/ai2thor/metadata/iTHOR.json new file mode 100644 index 000000000..d148e93cc --- /dev/null +++ b/mani_skill2/utils/scene_builder/ai2thor/metadata/iTHOR.json @@ -0,0 +1,155 @@ +{ + "scenes": [ + "./FloorPlan7_physics.scene_instance.json", + "./FloorPlan3_physics.scene_instance.json", + "./FloorPlan421_physics.scene_instance.json", + "./FloorPlan412_physics.scene_instance.json", + "./FloorPlan203_physics.scene_instance.json", + "./FloorPlan526_physics.scene_instance.json", + "./FloorPlan324_physics.scene_instance.json", + "./FloorPlan521_physics.scene_instance.json", + "./FloorPlan504_physics.scene_instance.json", + "./FloorPlan429_physics.scene_instance.json", + "./FloorPlan227_physics.scene_instance.json", + "./FloorPlan312_physics.scene_instance.json", + "./FloorPlan330_physics.scene_instance.json", + "./FloorPlan417_physics.scene_instance.json", + "./FloorPlan20_physics.scene_instance.json", + "./FloorPlan403_physics.scene_instance.json", + "./FloorPlan407_physics.scene_instance.json", + "./FloorPlan214_physics.scene_instance.json", + "./FloorPlan505_physics.scene_instance.json", + "./FloorPlan405_physics.scene_instance.json", + "./FloorPlan517_physics.scene_instance.json", + "./FloorPlan211_physics.scene_instance.json", + "./FloorPlan28_physics.scene_instance.json", + "./FloorPlan320_physics.scene_instance.json", + "./FloorPlan314_physics.scene_instance.json", + "./FloorPlan415_physics.scene_instance.json", + "./FloorPlan301_physics.scene_instance.json", + "./FloorPlan221_physics.scene_instance.json", + "./FloorPlan516_physics.scene_instance.json", + "./FloorPlan518_physics.scene_instance.json", + "./FloorPlan10_physics.scene_instance.json", + "./FloorPlan307_physics.scene_instance.json", + "./FloorPlan17_physics.scene_instance.json", + "./FloorPlan222_physics.scene_instance.json", + "./FloorPlan30_physics.scene_instance.json", + "./FloorPlan522_physics.scene_instance.json", + "./FloorPlan523_physics.scene_instance.json", + "./FloorPlan201_physics.scene_instance.json", + "./FloorPlan12_physics.scene_instance.json", + "./FloorPlan513_physics.scene_instance.json", + "./FloorPlan416_physics.scene_instance.json", + "./FloorPlan230_physics.scene_instance.json", + "./FloorPlan503_physics.scene_instance.json", + "./FloorPlan14_physics.scene_instance.json", + "./FloorPlan217_physics.scene_instance.json", + "./FloorPlan502_physics.scene_instance.json", + "./FloorPlan228_physics.scene_instance.json", + "./FloorPlan209_physics.scene_instance.json", + "./FloorPlan323_physics.scene_instance.json", + "./FloorPlan204_physics.scene_instance.json", + "./FloorPlan4_physics.scene_instance.json", + "./FloorPlan514_physics.scene_instance.json", + "./FloorPlan529_physics.scene_instance.json", + "./FloorPlan319_physics.scene_instance.json", + "./FloorPlan22_physics.scene_instance.json", + "./FloorPlan207_physics.scene_instance.json", + "./FloorPlan515_physics.scene_instance.json", + "./FloorPlan419_physics.scene_instance.json", + "./FloorPlan304_physics.scene_instance.json", + "./FloorPlan507_physics.scene_instance.json", + "./FloorPlan408_physics.scene_instance.json", + "./FloorPlan422_physics.scene_instance.json", + "./FloorPlan309_physics.scene_instance.json", + "./FloorPlan519_physics.scene_instance.json", + "./FloorPlan428_physics.scene_instance.json", + "./FloorPlan302_physics.scene_instance.json", + "./FloorPlan410_physics.scene_instance.json", + "./FloorPlan226_physics.scene_instance.json", + "./FloorPlan1_physics.scene_instance.json", + "./FloorPlan18_physics.scene_instance.json", + "./FloorPlan325_physics.scene_instance.json", + "./FloorPlan5_physics.scene_instance.json", + "./FloorPlan224_physics.scene_instance.json", + "./FloorPlan24_physics.scene_instance.json", + "./FloorPlan430_physics.scene_instance.json", + "./FloorPlan509_physics.scene_instance.json", + "./FloorPlan426_physics.scene_instance.json", + "./FloorPlan327_physics.scene_instance.json", + "./FloorPlan13_physics.scene_instance.json", + "./FloorPlan223_physics.scene_instance.json", + "./FloorPlan303_physics.scene_instance.json", + "./FloorPlan524_physics.scene_instance.json", + "./FloorPlan418_physics.scene_instance.json", + "./FloorPlan19_physics.scene_instance.json", + "./FloorPlan220_physics.scene_instance.json", + "./FloorPlan322_physics.scene_instance.json", + "./FloorPlan218_physics.scene_instance.json", + "./FloorPlan420_physics.scene_instance.json", + "./FloorPlan229_physics.scene_instance.json", + "./FloorPlan225_physics.scene_instance.json", + "./FloorPlan21_physics.scene_instance.json", + "./FloorPlan29_physics.scene_instance.json", + "./FloorPlan511_physics.scene_instance.json", + "./FloorPlan525_physics.scene_instance.json", + "./FloorPlan508_physics.scene_instance.json", + "./FloorPlan213_physics.scene_instance.json", + "./FloorPlan329_physics.scene_instance.json", + "./FloorPlan23_physics.scene_instance.json", + "./FloorPlan530_physics.scene_instance.json", + "./FloorPlan402_physics.scene_instance.json", + "./FloorPlan413_physics.scene_instance.json", + "./FloorPlan321_physics.scene_instance.json", + "./FloorPlan310_physics.scene_instance.json", + "./FloorPlan15_physics.scene_instance.json", + "./FloorPlan427_physics.scene_instance.json", + "./FloorPlan208_physics.scene_instance.json", + "./FloorPlan308_physics.scene_instance.json", + "./FloorPlan306_physics.scene_instance.json", + "./FloorPlan315_physics.scene_instance.json", + "./FloorPlan202_physics.scene_instance.json", + "./FloorPlan326_physics.scene_instance.json", + "./FloorPlan425_physics.scene_instance.json", + "./FloorPlan506_physics.scene_instance.json", + "./FloorPlan26_physics.scene_instance.json", + "./FloorPlan520_physics.scene_instance.json", + "./FloorPlan6_physics.scene_instance.json", + "./FloorPlan212_physics.scene_instance.json", + "./FloorPlan16_physics.scene_instance.json", + "./FloorPlan8_physics.scene_instance.json", + "./FloorPlan414_physics.scene_instance.json", + "./FloorPlan406_physics.scene_instance.json", + "./FloorPlan313_physics.scene_instance.json", + "./FloorPlan311_physics.scene_instance.json", + "./FloorPlan527_physics.scene_instance.json", + "./FloorPlan318_physics.scene_instance.json", + "./FloorPlan328_physics.scene_instance.json", + "./FloorPlan401_physics.scene_instance.json", + "./FloorPlan528_physics.scene_instance.json", + "./FloorPlan423_physics.scene_instance.json", + "./FloorPlan27_physics.scene_instance.json", + "./FloorPlan404_physics.scene_instance.json", + "./FloorPlan11_physics.scene_instance.json", + "./FloorPlan215_physics.scene_instance.json", + "./FloorPlan210_physics.scene_instance.json", + "./FloorPlan317_physics.scene_instance.json", + "./FloorPlan510_physics.scene_instance.json", + "./FloorPlan205_physics.scene_instance.json", + "./FloorPlan219_physics.scene_instance.json", + "./FloorPlan216_physics.scene_instance.json", + "./FloorPlan25_physics.scene_instance.json", + "./FloorPlan9_physics.scene_instance.json", + "./FloorPlan501_physics.scene_instance.json", + "./FloorPlan512_physics.scene_instance.json", + "./FloorPlan424_physics.scene_instance.json", + "./FloorPlan305_physics.scene_instance.json", + "./FloorPlan411_physics.scene_instance.json", + "./FloorPlan316_physics.scene_instance.json", + "./FloorPlan206_physics.scene_instance.json", + "./FloorPlan409_physics.scene_instance.json", + "./FloorPlan2_physics.scene_instance.json" + ] + +} \ No newline at end of file diff --git a/mani_skill2/utils/scene_builder/ai2thor/scene_builder.py b/mani_skill2/utils/scene_builder/ai2thor/scene_builder.py new file mode 100644 index 000000000..40f3c2612 --- /dev/null +++ b/mani_skill2/utils/scene_builder/ai2thor/scene_builder.py @@ -0,0 +1,169 @@ +""" +SceneBuilder for the AI2Thor scenes, using configurations and assets stored in https://huggingface.co/datasets/hssd/ai2thor-hab + +""" + + +import json +import os.path as osp +from pathlib import Path +from typing import List + +import numpy as np +import sapien +import sapien.core as sapien +import sapien.physx as physx +import transforms3d +from tqdm import tqdm + +from mani_skill2 import ASSET_DIR +from mani_skill2.utils.scene_builder import SceneBuilder + +from .constants import ( + MOVABLE_OBJECT_IDS, + SCENE_SOURCE_TO_DATASET, + SEMANTIC_ID_OBJECT_MAPPING, + SceneConfig, +) + +DATASET_CONFIG_DIR = osp.join(osp.dirname(__file__), "metadata") + +ALL_SCENE_CONFIGS = ( + dict() +) # cached results mapping scene dataset ID to a list of scene configurations + + +class AI2THORBaseSceneBuilder(SceneBuilder): + """ + The Base AI2THOR scene builder class. Subclasses + """ + + scene_dataset: str + + def __init__(self): + self._scene_configs: List[SceneConfig] = [] + if self.scene_dataset not in ALL_SCENE_CONFIGS: + dataset_path = SCENE_SOURCE_TO_DATASET[self.scene_dataset].metadata_path + with open(osp.join(DATASET_CONFIG_DIR, dataset_path)) as f: + scene_jsons = json.load(f)["scenes"] + self._scene_configs += [ + SceneConfig(config_file=scene_json, source=self.scene_dataset) + for scene_json in scene_jsons + ] + ALL_SCENE_CONFIGS[self.scene_dataset] = self._scene_configs + else: + self._scene_configs = ALL_SCENE_CONFIGS[self.scene_dataset] + + super().__init__() + + def _should_be_kinematic(self, template_name: str): + object_config_json = ( + Path(ASSET_DIR) + / "scene_datasets/ai2thor/ai2thorhab-uncompressed/configs" + / f"{template_name}.object_config.json" + ) + with open(object_config_json, "r") as f: + object_config_json = json.load(f) + semantic_id = object_config_json["semantic_id"] + object_category = SEMANTIC_ID_OBJECT_MAPPING[semantic_id] + return object_category not in MOVABLE_OBJECT_IDS + + def build( + self, scene: sapien.Scene, scene_id=0, convex_decomposition="none", **kwargs + ): + # save scene and movable objects when building scene + self._scene_objects: List[sapien.Entity] = [] + self._movable_objects: List[sapien.Entity] = [] + + scene_cfg = self._scene_configs[scene_id] + + dataset = SCENE_SOURCE_TO_DATASET[scene_cfg.source] + with open(osp.join(dataset.dataset_path, scene_cfg.config_file), "rb") as f: + scene_json = json.load(f) + + bg_path = str( + Path(ASSET_DIR) + / "scene_datasets/ai2thor/ai2thor-hab/assets" + / f"{scene_json['stage_instance']['template_name']}.glb" + ) + builder = scene.create_actor_builder() + builder.add_visual_from_file(bg_path) + builder.add_nonconvex_collision_from_file(bg_path) + bg = builder.build_kinematic(name="scene_background") + q = transforms3d.quaternions.axangle2quat( + np.array([1, 0, 0]), theta=np.deg2rad(90) + ) + if self.scene_dataset == "ProcTHOR": + # for some reason the scene needs to rotate around y-axis by 90 degrees for ProcTHOR scenes from hssd dataset + q = transforms3d.quaternions.qmult( + q, + transforms3d.quaternions.axangle2quat( + np.array([0, -1, 0]), theta=np.deg2rad(90) + ), + ) + bg.set_pose(sapien.Pose(q=q)) + + global_id = 0 + for object in tqdm(scene_json["object_instances"][:]): + model_path = ( + Path(ASSET_DIR) + / "scene_datasets/ai2thor/ai2thorhab-uncompressed/assets" + / f"{object['template_name']}.glb" + ) + actor_id = f"{object['template_name']}_{global_id}" + global_id += 1 + builder = scene.create_actor_builder() + builder.add_visual_from_file(str(model_path)) + if self._should_be_kinematic(object["template_name"]): + position = [ + object["translation"][0], + -object["translation"][2], + object["translation"][1] + 0, + ] + builder.add_nonconvex_collision_from_file(str(model_path)) + actor = builder.build_kinematic(name=actor_id) + else: + position = [ + object["translation"][0], + -object["translation"][2], + object["translation"][1] + 0.005, + ] + builder.add_multiple_convex_collisions_from_file( + str(model_path), decomposition=convex_decomposition + ) + actor = builder.build(name=actor_id) + self._scene_objects.append(actor) + + q = transforms3d.quaternions.axangle2quat( + np.array([1, 0, 0]), theta=np.deg2rad(90) + ) + rot_q = [ + object["rotation"][0], + object["rotation"][1], + object["rotation"][2], + object["rotation"][-1], + ] + q = transforms3d.quaternions.qmult(q, rot_q) + pose = sapien.Pose(p=position, q=q) + actor.set_pose(pose) + + # get movable objects + self._movable_objects = [ + obj + for obj in self.scene_objects + if not obj.find_component_by_type( + physx.PhysxRigidDynamicComponent + ).kinematic + ] + + @property + def scene_configs(self): + return self._scene_configs + + @property + def scene_objects(self): + return self._scene_objects + + @property + def movable_objects(self): + return self._movable_objects diff --git a/mani_skill2/utils/scene_builder/ai2thor/variants.py b/mani_skill2/utils/scene_builder/ai2thor/variants.py new file mode 100644 index 000000000..96df7a48d --- /dev/null +++ b/mani_skill2/utils/scene_builder/ai2thor/variants.py @@ -0,0 +1,17 @@ +from .scene_builder import AI2THORBaseSceneBuilder + + +class ProcTHORSceneBuilder(AI2THORBaseSceneBuilder): + scene_dataset = "ProcTHOR" + + +class ArchitecTHORSceneBuilder(AI2THORBaseSceneBuilder): + scene_dataset = "ArchitecTHOR" + + +class iTHORSceneBuilder(AI2THORBaseSceneBuilder): + scene_dataset = "iTHOR" + + +class RoboTHORSceneBuilder(AI2THORBaseSceneBuilder): + scene_dataset = "RoboTHOR" diff --git a/mani_skill2/utils/scene_builder/scene_builder.py b/mani_skill2/utils/scene_builder/scene_builder.py new file mode 100644 index 000000000..a5dc6ca0b --- /dev/null +++ b/mani_skill2/utils/scene_builder/scene_builder.py @@ -0,0 +1,23 @@ +from typing import List + +import sapien + + +class SceneBuilder: + def __init__(self): + self._scene: sapien.Scene = None + + # set in self.build + self._scene_objects: List[sapien.Entity] = [] + self._movable_objects: List[sapien.Entity] = [] + + def build(self, scene, **kwargs): + raise NotImplementedError() + + @property + def scene_objects(self): + raise NotImplementedError() + + @property + def movable_objects(self): + raise NotImplementedError() diff --git a/mani_skill2/utils/scene_builder/table/__init__.py b/mani_skill2/utils/scene_builder/table/__init__.py new file mode 100644 index 000000000..452481bba --- /dev/null +++ b/mani_skill2/utils/scene_builder/table/__init__.py @@ -0,0 +1 @@ +from .table_scene_builder import TableSceneBuilder diff --git a/mani_skill2/utils/scene_builder/table/assets/Dining_Table_204_1.glb b/mani_skill2/utils/scene_builder/table/assets/Dining_Table_204_1.glb new file mode 100644 index 000000000..1013e3766 Binary files /dev/null and b/mani_skill2/utils/scene_builder/table/assets/Dining_Table_204_1.glb differ diff --git a/mani_skill2/utils/scene_builder/table/assets/floor_texture.png b/mani_skill2/utils/scene_builder/table/assets/floor_texture.png new file mode 100644 index 000000000..a9fc5060e Binary files /dev/null and b/mani_skill2/utils/scene_builder/table/assets/floor_texture.png differ diff --git a/mani_skill2/utils/scene_builder/table/assets/tiled_floor.obj b/mani_skill2/utils/scene_builder/table/assets/tiled_floor.obj new file mode 100644 index 000000000..16ad2e2c4 --- /dev/null +++ b/mani_skill2/utils/scene_builder/table/assets/tiled_floor.obj @@ -0,0 +1,15 @@ +# Blender 4.0.2 +# www.blender.org +mtllib tiled_floor.mtl +o Plane +v -1.000000 0.000000 1.000000 +v 1.000000 0.000000 1.000000 +v -1.000000 0.000000 -1.000000 +v 1.000000 0.000000 -1.000000 +vn -0.0000 1.0000 -0.0000 +vt 0.000000 0.000000 +vt 9.223548 0.000000 +vt 9.223548 9.250000 +vt 0.000000 9.250000 +s 0 +f 1/1/1 2/2/1 4/3/1 3/4/1 diff --git a/mani_skill2/utils/scene_builder/table/table_scene_builder.py b/mani_skill2/utils/scene_builder/table/table_scene_builder.py new file mode 100644 index 000000000..5c890b398 --- /dev/null +++ b/mani_skill2/utils/scene_builder/table/table_scene_builder.py @@ -0,0 +1,59 @@ +import itertools +import os.path as osp +from pathlib import Path +from typing import Dict, List, Type, Union + +import numpy as np +import sapien +import sapien.render +from transforms3d.euler import euler2quat + +from mani_skill2.utils.building.ground import build_tesselated_square_floor +from mani_skill2.utils.scene_builder import SceneBuilder + + +class TableSceneBuilder(SceneBuilder): + def __init__(self): + super().__init__() + + def build(self, scene: sapien.Scene, **kwargs): + builder = scene.create_actor_builder() + model_dir = Path(osp.dirname(__file__)) / "assets" + scale = 1.2 + physical_material = None + + collision_file = str(model_dir / "Dining_Table_204_1.glb") # a metal table + table_pose = sapien.Pose(q=euler2quat(np.pi / 2, 0, 0)) + builder.add_nonconvex_collision_from_file( + filename=collision_file, + scale=[scale] * 3, + material=physical_material, + pose=table_pose, + ) + + visual_file = str(model_dir / "Dining_Table_204_1.glb") + builder.add_visual_from_file( + filename=visual_file, scale=[scale] * 3, pose=table_pose + ) + table = builder.build_static(name="table-workspace") + aabb = table.find_component_by_type( + sapien.render.RenderBodyComponent + ).compute_global_aabb_tight() + table_height = aabb[1, 2] - aabb[0, 2] + table.set_pose( + sapien.Pose(p=[-0.1, 0, -table_height], q=euler2quat(0, 0, np.pi / 2)) + ) + + self.ground = build_tesselated_square_floor(scene, altitude=-table_height) + self.table = table + self._scene_objects: List[sapien.Entity] = [self.table, self.ground] + + @property + def scene_objects(self): + return self._scene_objects + + @property + def movable_objects(self): + raise AttributeError( + "For TableScene, additional movable objects must be added and managed at Task-level" + ) diff --git a/mani_skill2/utils/wrappers/record.py b/mani_skill2/utils/wrappers/record.py index df792fffd..c5077cfa6 100644 --- a/mani_skill2/utils/wrappers/record.py +++ b/mani_skill2/utils/wrappers/record.py @@ -318,8 +318,8 @@ def flush_trajectory(self, verbose=False, ignore_empty_transition=False): if self.record_reward: rewards = np.stack([x["r"] for x in self._episode_data]).astype(np.float32) - group.create_dataset("rewards",data=rewards, dtype=np.float32) - + group.create_dataset("rewards", data=rewards, dtype=np.float32) + if self.init_state_only: group.create_dataset("env_init_state", data=env_states[0], dtype=np.float32) else: