ReplicaCAD not loading articulated counters outside the viewer

[jackkolb]

Habitat-Sim version

v0.3.1

❓ Questions and Help

Hi! I am trying to render an apartment from the ReplicaCAD dataset, however am unable to load the articulated counters. I installed habitat-sim with bullet physics, however am receiving errors that suggest bullet physics are not enabled.

For example:

The counters are visible and interactable in the interactive viewer example, however when using my own config (based on the Shortest Path Follower example) I get these errors:

[18:42:48:737442]:[Warning]:[Metadata] MetadataMediator.cpp(587)::getFilePathForHandle : <getNavmeshPathByHandle> : Unable to find file path for empty_stage_navmesh , so returning empty string.
[18:42:48:948451]:[Warning]:[Sim] Simulator.cpp(594)::instanceStageForSceneAttributes : The active scene does not contain semantic annotations : activeSemanticSceneID_ = 0
[18:42:50:542760]:[Error]:[Physics] PhysicsManager.h(1074)::addArticulatedObjectInternal : Not implemented in base PhysicsManager. Install with --bullet to use this feature.
[18:42:50:542785]:[Error]:[Physics] PhysicsManager.cpp(549)::addArticulatedObjectAndSaveAttributes : Articulated Object create failed for ArticulatedObjectAttributes 'data/scene_datasets/replica_cad/urdf/fridge/fridge.ao_config.json', whose handle contains 'fridge' as specified in articulated object instance attributes, so addArticulatedObjectInstance aborted.
[18:42:50:542824]:[Error]:[Physics] PhysicsManager.h(1074)::addArticulatedObjectInternal : Not implemented in base PhysicsManager. Install with --bullet to use this feature.
[18:42:50:542833]:[Error]:[Physics] PhysicsManager.cpp(549)::addArticulatedObjectAndSaveAttributes : Articulated Object create failed for ArticulatedObjectAttributes 'data/scene_datasets/replica_cad/urdf/kitchen_counter/kitchen_counter.ao_config.json', whose handle contains 'kitchen_counter' as specified in articulated object instance attributes, so addArticulatedObjectInstance aborted.
[18:42:50:542859]:[Error]:[Physics] PhysicsManager.h(1074)::addArticulatedObjectInternal : Not implemented in base PhysicsManager. Install with --bullet to use this feature.
[18:42:50:542867]:[Error]:[Physics] PhysicsManager.cpp(549)::addArticulatedObjectAndSaveAttributes : Articulated Object create failed for ArticulatedObjectAttributes 'data/scene_datasets/replica_cad/urdf/kitchen_cupboards/kitchenCupboard_01.ao_config.json', whose handle contains 'kitchenCupboard_01' as specified in articulated object instance attributes, so addArticulatedObjectInstance aborted.
[18:42:50:542892]:[Error]:[Physics] PhysicsManager.h(1074)::addArticulatedObjectInternal : Not implemented in base PhysicsManager. Install with --bullet to use this feature.
[18:42:50:542900]:[Error]:[Physics] PhysicsManager.cpp(549)::addArticulatedObjectAndSaveAttributes : Articulated Object create failed for ArticulatedObjectAttributes 'data/scene_datasets/replica_cad/urdf/chest_of_drawers/chestOfDrawers_01.ao_config.json', whose handle contains 'chestOfDrawers_01' as specified in articulated object instance attributes, so addArticulatedObjectInstance aborted.
[18:42:50:542926]:[Error]:[Physics] PhysicsManager.h(1074)::addArticulatedObjectInternal : Not implemented in base PhysicsManager. Install with --bullet to use this feature.
[18:42:50:542937]:[Error]:[Physics] PhysicsManager.cpp(549)::addArticulatedObjectAndSaveAttributes : Articulated Object create failed for ArticulatedObjectAttributes 'data/scene_datasets/replica_cad/urdf/cabinet/cabinet.ao_config.json', whose handle contains 'cabinet' as specified in articulated object instance attributes, so addArticulatedObjectInstance aborted.
[18:42:50:542958]:[Error]:[Physics] PhysicsManager.h(1074)::addArticulatedObjectInternal : Not implemented in base PhysicsManager. Install with --bullet to use this feature.
[18:42:50:542966]:[Error]:[Physics] PhysicsManager.cpp(549)::addArticulatedObjectAndSaveAttributes : Articulated Object create failed for ArticulatedObjectAttributes 'data/scene_datasets/replica_cad/urdf/doors/door2.urdf', whose handle contains 'door2' as specified in articulated object instance attributes, so addArticulatedObjectInstance aborted.

I installed habitat-sim from source using --bullet, and also tried on a new environment using the conda package (withbullet), following the README's installation directions. Same results.

What could be wrong? While the errors suggest an installation issue, the counters showing on the interactive viewer indicates a configuration issue.

My config.yaml is:

# @package _global_

defaults:
  - /habitat: habitat_config_base
  - /habitat/task: pointnav
  - /habitat/simulator/sensor_setups@habitat.simulator.agents.main_agent: rgbd_agent
  - /habitat/dataset: dataset_config_schema
  - _self_

habitat:  
  dataset:
    type: PointNav-v1
    data_path: "hab_1_episodes.json.gz"
    scenes_dir: data/scene_datasets/replica_cad
  environment:
    max_episode_steps: 100
  simulator:
    additional_object_paths:
        - "data/objects/ycb/configs/"
    agents:
      main_agent:
        sim_sensors:
          rgb_sensor:
            width: 256
            height: 256
          depth_sensor:
            width: 256
            height: 256

And my episode JSON is:

{
    "episodes": 
    [
        {
            "scene_id": "configs/scenes/apt_2.scene_instance.json",
            "scene_dataset_config": "data/scene_datasets/replica_cad/replicaCAD.scene_dataset_config.json",
            "episode_id": "0", 
            "start_position": [1.0, 0.2047852873802185, 1.0], 
            "start_rotation": [0, 0.4536385088584658, 0, 0.8911857849408661],
            "goals": [
                {
                    "position": [2.2896811962127686, 0.11950381100177765, 2.97636604309082]
                }
            ]
        }
    ]
}

[aclegg3]

Hey @jackkolb

Note this is an issue with habitat-lab configuration, not habitat-sim.

However, simply fix I think. It looks like you are using a default pointnav config. By default, pointnav does not enable physics since scanned static scenes have no need for dynamic simulation or collision detection.

Set that enable_physics flag to True and it should fix your problem.

[jackkolb]

Thank you! That fixed it (and hopefully this helps someone down the line).