added scene_graphs

igibson/scene_graphs/behavior_demo_sg_exporter.py

@@ -0,0 +1,53 @@
+import argparse
+import os
+
+import h5py
+
+import igibson
+from igibson.examples.behavior.behavior_demo_batch import behavior_demo_batch
+from igibson.scene_graphs.graph_exporter import SceneGraphExporter
+
+
+def parse_args():
+    testdir = os.path.join(igibson.ig_dataset_path, "tests")
+    manifest = os.path.join(testdir, "test_manifest.txt")
+    parser = argparse.ArgumentParser(description="Build live scene graphs from BEHAVIOR demos in manifest.")
+    parser.add_argument(
+        "--demo_root", type=str, default=testdir, help="Directory containing demos listed in the manifest."
+    )
+    parser.add_argument(
+        "--log_manifest", type=str, default=manifest, help="Plain text file consisting of list of demos to replay."
+    )
+    parser.add_argument("--out_dir", type=str, default=testdir, help="Directory to store results in.")
+    parser.add_argument("--num_frames_per_demo", type=int, default=None, help="Number of frames to save per demo.")
+    return parser.parse_args()
+
+
+def main():
+    args = parse_args()
+
+    def get_scene_graph_callbacks(demo_name, out_dir):
+        path = os.path.join(out_dir, demo_name + "_sg_data.hdf5")
+        h5py_file = h5py.File(path, "w")
+        extractors = [SceneGraphExporter(h5py_file, full_obs=True, num_frames_to_save=args.num_frames_per_demo)]
+
+        return (
+            [extractor.start for extractor in extractors],
+            [extractor.step for extractor in extractors],
+            [lambda a, b: h5py_file.close()],
+            [],
+        )
+
+    behavior_demo_batch(
+        args.demo_root,
+        args.log_manifest,
+        args.out_dir,
+        get_scene_graph_callbacks,
+        image_size=(640, 720),
+        ignore_errors=True,
+        debug_display=False,
+    )
+
+
+if __name__ == "__main__":
+    main()

igibson/scene_graphs/behavior_demo_to_scene_graph.py

@@ -0,0 +1,53 @@
+import argparse
+import os
+
+import igibson
+from igibson.examples.behavior.behavior_demo_batch import behavior_demo_batch
+from igibson.scene_graphs.graph_builder import SceneGraphBuilderWithVisualization
+
+
+def parse_args():
+    testdir = os.path.join(igibson.ig_dataset_path, "tests")
+    manifest = os.path.join(testdir, "test_manifest.txt")
+    parser = argparse.ArgumentParser(description="Build live scene graphs from BEHAVIOR demos in manifest.")
+    parser.add_argument(
+        "--demo_root", type=str, default=testdir, help="Directory containing demos listed in the manifest."
+    )
+    parser.add_argument(
+        "--log_manifest", type=str, default=manifest, help="Plain text file consisting of list of demos to replay."
+    )
+    parser.add_argument("--out_dir", type=str, default=testdir, help="Directory to store results in.")
+    return parser.parse_args()
+
+
+def main():
+    args = parse_args()
+
+    def get_scene_graph_callbacks(demo_name, out_dir):
+        path = os.path.join(out_dir, demo_name)
+        if not os.path.exists(path):
+            os.mkdir(path)
+        graph_builder = SceneGraphBuilderWithVisualization(
+            show_window=False, out_path=path, only_true=True, realistic_positioning=True
+        )
+
+        return (
+            [graph_builder.start],
+            [graph_builder.step],
+            [],
+            [],
+        )
+
+    behavior_demo_batch(
+        args.demo_root,
+        args.log_manifest,
+        args.out_dir,
+        get_scene_graph_callbacks,
+        image_size=(640, 720),
+        ignore_errors=False,
+        debug_display=False,
+    )
+
+
+if __name__ == "__main__":
+    main()

igibson/scene_graphs/enum_obj_states.py

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+from enum import Enum
+
+
+class UnaryStatesEnum(Enum):
+    Burnt = 0
+    CleaningTool = 1
+    HeatSourceOrSink = 2
+    Cooked = 3
+    Dusty = 4
+    Frozen = 5
+    Open = 6
+    Sliced = 7
+    Slicer = 8
+    Soaked = 9
+    Stained = 10
+    ToggledOn = 11
+    WaterSource = 12
+    InFOVOfRobot = 13
+    InHandOfRobot = 14
+    InReachOfRobot = 15
+    InSameRoomAsRobot = 16
+
+
+# Temperture and max temperature are not included
+
+
+class BinaryStatesEnum(Enum):
+    InRoom = 0
+    Inside = 1
+    NextTo = 2
+    OnFloor = 3
+    OnTop = 4
+    Touching = 5
+    Under = 6
+
+
+# Not in use, we use binary InRoom for these
+class RoomStatesEnum(Enum):
+    IsInBathroom = 0
+    IsInBedroom = 1
+    IsInChildsRoom = 2
+    IsInCloset = 3
+    IsInCorridor = 4
+    IsInDiningRoom = 5
+    IsInEmptyRoom = 6
+    IsInExerciseRoom = 7
+    IsInGarage = 8
+    IsInHomeOffice = 9
+    IsInKitchen = 10
+    IsInLivingRoom = 11
+    IsInLobby = 12
+    IsInPantryRoom = 13
+    IsInPlayroom = 14
+    IsInStaircase = 15
+    IsInStorageRoom = 16
+    IsInTelevisionRoom = 17
+    IsInUtilityRoom = 18
+    IsInBalcony = 19
+    IsInLibrary = 20
+    IsInAuditorium = 21
+    IsInUndefined = 22