fix plane not found issue, constraint body id issue

StanfordVL · Oct 18, 2020 · d065583 · d065583
1 parent e203836
commit d065583
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 8 deletions.
diff --git a/examples/demo/igsdf_obj_viz.py b/examples/demo/igsdf_obj_viz.py
@@ -97,13 +97,13 @@ def main():
 
     s.renderer.set_light_position_direction([0,0,10], [0,0,0])
 
-    s.renderer.load_object('plane/plane_z_up_0.obj', scale=[3,3,3])
-    s.renderer.add_instance(0)
-    s.renderer.set_pose([0,0,-1.5,1, 0, 0.0, 0.0], -1)
-
+    #s.renderer.load_object('plane/plane_z_up_0.obj', scale=[3,3,3])
+    #s.renderer.add_instance(0)
+    #s.renderer.set_pose([0,0,-1.5,1, 0, 0.0, 0.0], -1)
+    # removed the plane since it is in local dir
 
     v = []
-    mesh_path = os.path.join(model_path, 'shape/visual')
+    mesh_path = os.path.join(model_path, 'shape', 'visual')
     for fn in os.listdir(mesh_path):
         if fn.endswith('obj'):
             vertices, faces = load_obj_np(os.path.join(mesh_path, fn))

diff --git a/gibson2/render/viewer.py b/gibson2/render/viewer.py
@@ -74,9 +74,8 @@ def create_visual_object(self):
             self.simulator.import_object(
                 self.constraint_marker2, use_pbr=False)
             self.simulator.import_object(self.constraint_marker, use_pbr=False)
-
-        self.constraint_marker.set_position([0, 0, -1])
-        self.constraint_marker2.set_position([0, 0, -1])
+            self.constraint_marker.set_position([0, 0, -1])
+            self.constraint_marker2.set_position([0, 0, -1])
 
     def apply_push_force(self, x, y, force):
         camera_pose = np.array([self.px, self.py, self.pz])