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StanfordVL / iGibson

A Simulation Environment to train Robots in Large Realistic Interactive Scenes
http://svl.stanford.edu/igibson
MIT License
642 stars 157 forks source link

Importing iGibson Scenes to Habitat 2 SImulator #256

Open Ayush8120 opened 1 year ago

Ayush8120 commented 1 year ago

Hey,

I've been working on a project that utilizes iGibson scenes in an iGibson Simulator. However, I would like to compare how these scenes work in another simulator like habitat 2.0. Is there any way I can import these scenes in Habitat 2.0 , as they use .glb formats for their scene representations, while iGibson has stored the data in urdf file formats. Any help would be highly appreciated!

TIA 😄

yashkant commented 1 year ago

hi @Ayush8120, we used igibson scenes in habitat for our work housekeep: https://github.com/yashkant/housekeep which could be useful.

Ayush8120 commented 1 year ago

Hey @yashkant ,

Thanks for your reply. Yes, I checked HouseKeep. If I'm not mistaken you guys have taken the empty igibson interactive scenes and then loaded objects according to your task definition, right?

I tried running it but the code shows an error, some functions that you used aren't compatible with habitat-sim 0.2.1 (which you've mentioned installing) like : get_articulated_object_root_state(object_id)

I'm sorry if it's asking for too much, but could you please guide me to some documentation of your code to help me figure out how to understand your code flow properly? (I'm very new to this domain). Any explanation related to your codebase would be extremely useful to me.

Thanks for replying :-)