Update code to not have to change gymutil.py in Isaac Gym source code.

Signed-off-by: Mihir Kulkarni <[email protected]>

aerial_gym/config/asset_config/env_object_config.py

@@ -223,7 +223,7 @@ class thin_asset_params(asset_state_params):
 
 
 class tree_asset_params(asset_state_params):
-    num_assets = 6
+    num_assets = 1
 
     asset_folder = f"{AERIAL_GYM_DIRECTORY}/resources/models/environment_assets/trees"
 
@@ -271,7 +271,7 @@ class tree_asset_params(asset_state_params):
 
 
 class object_asset_params(asset_state_params):
-    num_assets = 40
+    num_assets = 5
 
     asset_folder = f"{AERIAL_GYM_DIRECTORY}/resources/models/environment_assets/objects"
 

aerial_gym/config/robot_config/base_quad_config.py

@@ -189,31 +189,31 @@ class motor_model_config:
             )
 
 class BaseQuadWithImuCfg(BaseQuadCfg):
-    class sensor_config:
+    class sensor_config(BaseQuadCfg.sensor_config):
         enable_imu = True
         imu_config = BaseImuConfig
 
 
 class BaseQuadWithCameraCfg(BaseQuadCfg):
-    class sensor_config:
+    class sensor_config(BaseQuadCfg.sensor_config):
         enable_camera = True
         camera_config = BaseDepthCameraConfig
 
 class BaseQuadWithCameraImuCfg(BaseQuadCfg):
-    class sensor_config:
+    class sensor_config(BaseQuadCfg.sensor_config):
         enable_camera = True
         camera_config = BaseDepthCameraConfig
 
         enable_imu = True
         imu_config = BaseImuConfig
 
 class BaseQuadWithLidarCfg(BaseQuadCfg):
-    class sensor_config:
+    class sensor_config(BaseQuadCfg.sensor_config):
         enable_lidar = True
         lidar_config = BaseLidarConfig
 
 class BaseQuadWithFaceIDNormalCameraCfg(BaseQuadCfg):
-    class sensor_config:
+    class sensor_config(BaseQuadCfg.sensor_config):
         enable_camera = True
         camera_config = BaseNormalFaceIDCameraConfig
 

aerial_gym/examples/save_camera_stream_normal_faceID.py

@@ -102,7 +102,7 @@
         # discretize image for better visualization
 
         seg_image1_normalized_int = (255.0 * seg_image1_normalized).astype(np.uint8)
-        seg1_image_normalized_discrete = 25 *np.mod(seg_image1_normalized_int, 10).astype(np.uint8)
+        seg1_image_normalized_discrete = 25 * (np.mod(seg_image1_normalized_int, 11)).astype(np.uint8)
 
         # set colormap to plasma in matplotlib
         seg_image1_normalized_plasma = matplotlib.cm.plasma(seg1_image_normalized_discrete/255.0)

aerial_gym/robots/__init__.py

@@ -26,6 +26,7 @@
 from aerial_gym.registry.robot_registry import robot_registry
 
 from aerial_gym.config.robot_config.base_quad_config import BaseQuadWithImuCfg
+from aerial_gym.config.robot_config.base_quad_config import BaseQuadWithCameraCfg
 from aerial_gym.config.robot_config.base_quad_config import BaseQuadWithCameraImuCfg
 from aerial_gym.config.robot_config.base_quad_config import BaseQuadWithLidarCfg
 from aerial_gym.config.robot_config.base_quad_config import BaseQuadWithFaceIDNormalCameraCfg

aerial_gym/utils/helpers.py

@@ -30,6 +30,7 @@
 
 from isaacgym import gymapi
 from isaacgym import gymutil
+import argparse
 
 import distutils
 
@@ -87,6 +88,80 @@ def update_cfg_from_args(cfg, args):
     return cfg
 
 
+def parse_arguments(description="Isaac Gym Example", headless=False, no_graphics=False, custom_parameters=[]):
+    parser = argparse.ArgumentParser(description=description)
+    if headless:
+        parser.add_argument('--headless', action='store_true', help='Run headless without creating a viewer window')
+    if no_graphics:
+        parser.add_argument('--nographics', action='store_true',
+                            help='Disable graphics context creation, no viewer window is created, and no headless rendering is available')
+    parser.add_argument('--sim_device', type=str, default="cuda:0", help='Physics Device in PyTorch-like syntax')
+    parser.add_argument('--pipeline', type=str, default="gpu", help='Tensor API pipeline (cpu/gpu)')
+    parser.add_argument('--graphics_device_id', type=int, default=0, help='Graphics Device ID')
+
+    physics_group = parser.add_mutually_exclusive_group()
+    physics_group.add_argument('--flex', action='store_true', help='Use FleX for physics')
+    physics_group.add_argument('--physx', action='store_true', help='Use PhysX for physics')
+
+    parser.add_argument('--num_threads', type=int, default=0, help='Number of cores used by PhysX')
+    parser.add_argument('--subscenes', type=int, default=0, help='Number of PhysX subscenes to simulate in parallel')
+    parser.add_argument('--slices', type=int, help='Number of client threads that process env slices')
+
+    for argument in custom_parameters:
+        if ("name" in argument) and ("type" in argument or "action" in argument):
+            help_str = ""
+            if "help" in argument:
+                help_str = argument["help"]
+
+            if "type" in argument:
+                if "default" in argument:
+                    parser.add_argument(argument["name"], type=argument["type"], default=argument["default"], help=help_str)
+                else:
+                    parser.add_argument(argument["name"], type=argument["type"], help=help_str)
+            elif "action" in argument:
+                parser.add_argument(argument["name"], action=argument["action"], help=help_str)
+
+        else:
+            print()
+            print("ERROR: command line argument name, type/action must be defined, argument not added to parser")
+            print("supported keys: name, type, default, action, help")
+            print()
+
+    args, unknown_args = parser.parse_known_args()
+    print("[isaacgym:gymutil.py] Unknown args: ", unknown_args)
+
+    args.sim_device_type, args.compute_device_id = gymutil.parse_device_str(args.sim_device)
+    pipeline = args.pipeline.lower()
+
+    assert (pipeline == 'cpu' or pipeline in ('gpu', 'cuda')), f"Invalid pipeline '{args.pipeline}'. Should be either cpu or gpu."
+    args.use_gpu_pipeline = (pipeline in ('gpu', 'cuda'))
+
+    if args.sim_device_type != 'cuda' and args.flex:
+        print("Can't use Flex with CPU. Changing sim device to 'cuda:0'")
+        args.sim_device = 'cuda:0'
+        args.sim_device_type, args.compute_device_id = parse_device_str(args.sim_device)
+
+    if (args.sim_device_type != 'cuda' and pipeline == 'gpu'):
+        print("Can't use GPU pipeline with CPU Physics. Changing pipeline to 'CPU'.")
+        args.pipeline = 'CPU'
+        args.use_gpu_pipeline = False
+
+    # Default to PhysX
+    args.physics_engine = gymapi.SIM_PHYSX
+    args.use_gpu = (args.sim_device_type == 'cuda')
+
+    if args.flex:
+        args.physics_engine = gymapi.SIM_FLEX
+
+    # Using --nographics implies --headless
+    if no_graphics and args.nographics:
+        args.headless = True
+
+    if args.slices is None:
+        args.slices = args.subscenes
+
+    return args
+
 def get_args(additional_parameters=[]):
     custom_parameters = [
         {
@@ -109,7 +184,7 @@ def get_args(additional_parameters=[]):
         },
     ]
     # parse arguments
-    args = gymutil.parse_arguments(
+    args = parse_arguments(
         description="RL Policy",
         custom_parameters=custom_parameters + additional_parameters,
     )

docs/2_getting_started.md

@@ -71,7 +71,7 @@
     # or over HTTPS
     # git clone https://github.com/ntnu-arl/aerial_gym_simulator.git
 
-    cd aerial_gym
+    cd aerial_gym_simulator
     pip3 install -e .
     ```
 1. Test an example environment