Assets

Introduction

Assets includes necessary files for constructing a scene in iGibson simulator. The files include robot models, interactive objects, articulated objects and mesh files for tests. These files are too large to include in a version control system so we distribute them separately. The assets file can be downloaded to the path set in your_installation_path/gibson2/global_config.yaml (default to your_installation_path/gibson2/data/assets) with running

python -m gibson2.utils.assets_utils --download_assets

The folder structure will look like below (in the future we might add more models):

assets
├── models
│   ├── ant
│   ├── atlas
│   ├── botlab
│   ├── cabinet
│   ├── cabinet2
│   ├── cassie
│   ├── fetch
│   ├── humanoid
│   ├── husky
│   ├── jr1_urdf
│   ├── jr2_urdf
│   ├── kinova
│   ├── laikago
│   ├── locobot
│   ├── mjcf_primitives
│   ├── quadrotor
│   ├── quadruped
│   ├── rbo
│   ├── scene_components
│   ├── turtlebot
│   └── ycb
├── networks
│   └── model.pth
├── test
│   └── mesh
└── example_configs
    └── {}.yaml (deprecated, will be removed)

models contains robot models and interactive objects, networks contain the neural network filler used in Gibson V1, test contains files for performing tests of installation.

Models

The robots folders correspond to robot models.

Agent Name Folder
Mujoco Ant ant
Mujoco Humanoid humanoid
Husky Robot husky
Minitaur Robot quadruped
Quadrotor quadrotor
TurtleBot turtlebot
Freight fetch
Fetch fetch
JackRabbot jr2_urdf
LocoBot locobot

We also include YCB objects in ycb folder, RBO models in rbo folder, and a few commonly used primitives for home environments such as doors (in scene_components) and cabinets (in cabinet and cabinet2). You can refer to objects page to see how to use these models in gibson scenes. Don’t forget to cite related papers when using these assets.

Pretrained network

networks folder contains a pretrained network checkpoint model.pth, which is the “goggle” network used in Gibson V1. It is used to fix artifacts caused by imperfect reconstruction. In previous version we used image based rendering and there are more visible artifacts, therefore the “goggle” network is important. In this version, mesh rendering creates photorealstic visuals, so we recommend not using it (to gain more framerate).

Test meshes

In test folder we save a mesh file to test the renderer is compiled correctly, it is used by test/test_render.py.

Example configs

Sample config files to be used with the demo.