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StanfordVL / iGibson

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

Sleep should be allowed for all objects #300

Open fxia22 opened 3 years ago

fxia22 commented 3 years ago

including YCBObject, ShapeNetObject, ArticulatedObject, reported by Michael Lingelbach.

ChengshuLi commented 3 years ago

What about we combine these into URDFObject? I was planning to do this but got sidetracked with other tasks.

ChengshuLi commented 3 years ago

I am thinking about these two alternatives

  1. convert these external datasets (YCB, RBO, etc) into iGibson object format and use URDFObject directly.
  2. has a generic Object class that takes in data_source argument, similar to our scene class. Internally, it handles the object loading based on data_source

Either way, I think it's cleaner than having many object classes just for different data sources.

fxia22 commented 3 years ago

Unifying them into URDFObject is a good idea. We just need to process them into iG format and update assets package.

fxia22 commented 3 years ago

option 1 seems cleaner.

ChengshuLi commented 3 years ago

Option 1 has one drawback though. If someone downloads the original YCB object, he/she will need to do the conversion themselves. We can still provide the scripts to do that (e.g. like what Will provides for 3D front and cubicasa)