Source code for mani_skill.utils.building.urdf_loader
from __future__ import annotations
from typing import TYPE_CHECKING, Any, TypedDict
from sapien.render import RenderCameraComponent
from sapien.wrapper.urdf_loader import URDFLoader as SapienURDFLoader
from mani_skill.utils.building.actor_builder import ActorBuilder
from mani_skill.utils.building.articulation_builder import ArticulationBuilder
from mani_skill.utils.structs.actor import Actor
from mani_skill.utils.structs.articulation import Articulation
if TYPE_CHECKING:
from mani_skill.envs.scene import ManiSkillScene
[docs]class ParsedURDFData(TypedDict):
[docs] articulation_builders: list[ArticulationBuilder]
[docs] actor_builders: list[ActorBuilder]
[docs]class URDFLoader(SapienURDFLoader):
[docs] disable_self_collisions: bool = False
[docs] def parse(self, urdf_file, srdf_file=None, package_dir=None) -> ParsedURDFData:
articulation_builders, actor_builders, cameras = super().parse(
urdf_file, srdf_file, package_dir
)
for i, a in enumerate(articulation_builders):
if len(articulation_builders) > 1:
a.set_name(f"{self.name}-articulation-{i}")
else:
a.set_name(f"{self.name}")
if self.disable_self_collisions:
for l in a.link_builders:
# NOTE (stao): Currently this may not be working as intended
l.collision_groups[2] |= 1 << 29
for i, b in enumerate(actor_builders):
b.set_name(f"{self.name}-actor-{i}")
return dict(
articulation_builders=articulation_builders,
actor_builders=actor_builders,
cameras=cameras,
)
[docs] def load_file_as_articulation_builder(
self, urdf_file, srdf_file=None, package_dir=None
) -> ArticulationBuilder:
return super().load_file_as_articulation_builder(
urdf_file, srdf_file, package_dir
)
[docs] def load(
self,
urdf_file: str,
srdf_file=None,
package_dir=None,
name=None,
scene_idxs=None,
) -> Articulation:
"""
Args:
urdf_file: filename for URDL file
srdf_file: SRDF for urdf_file. If srdf_file is None, it defaults to the ".srdf" file with the same as the urdf file
package_dir: base directory used to resolve asset files in the URDF file. If an asset path starts with "package://", "package://" is simply removed from the file name
name (str): name of the created articulation
scene_idxs (list[int]): the ids of the scenes to build the objects in
Returns:
returns a single Articulation loaded from the URDF file. It throws an error if multiple objects exists
"""
if name is not None:
self.name = name
_parsed_urdf_data = self.parse(urdf_file, srdf_file, package_dir)
articulation_builders = _parsed_urdf_data["articulation_builders"]
actor_builders = _parsed_urdf_data["actor_builders"]
cameras = _parsed_urdf_data["cameras"]
if len(articulation_builders) > 1 or len(actor_builders) != 0:
raise Exception(
"URDF contains multiple objects, call load_multiple instead"
)
articulations: list[Articulation] = []
for b in articulation_builders:
b.set_scene_idxs(scene_idxs)
b.disable_self_collisions = self.disable_self_collisions
articulations.append(b.build())
actors: list[Actor] = []
for b in actor_builders:
actors.append(b.build())
if len(cameras) > 0:
name2entity = dict()
for a in articulations:
for sapien_articulation in a._objs:
for l in sapien_articulation.links:
name2entity[l.name] = l.entity
for a in actors:
name2entity[a.name] = a
for scene_idx, scene in enumerate(self.scene.sub_scenes):
for cam in cameras:
cam_component = RenderCameraComponent(cam["width"], cam["height"])
if cam["fovx"] is not None and cam["fovy"] is not None:
cam_component.set_fovx(cam["fovx"], False)
cam_component.set_fovy(cam["fovy"], False)
elif cam["fovy"] is None:
cam_component.set_fovx(cam["fovx"], True)
elif cam["fovx"] is None:
cam_component.set_fovy(cam["fovy"], True)
cam_component.near = cam["near"]
cam_component.far = cam["far"]
name2entity[f"scene-{scene_idx}_{cam['reference']}"].add_component(
cam_component
)
return articulations[0]
