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Dev external occupancy map generation #23

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jaybdub
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@jaybdub jaybdub commented Apr 10, 2025 •
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  • Adds additional visualization during usage, to display path for path following scenario.
  • Adds performance optimizations related to get_world_pose(). Increases FPS from 20->60FPS for all scenarios
  • Adds performance optimizations to path following scenario. Increases FPS from 15->55FPS for this scenario
  • Adds support for loading pre-generated Occupancy Map
  • Adds instructions for generating occupancy manually using existing Isaac Sim tool to README

Testing

  1. Tested by running through full workflow (data collection, replay rendering) with H1 robot for path following and keyboard teleop scenarios
  2. Ensured that old logs still work with replay-rendering

jaybdub added 29 commits March 17, 2025 15:28
@jaybdub
add parquet export example
ade8ec8
@jaybdub
ensure replay uses originally recorded velocities
c421cd8
@jaybdub
add world linear/angular velocity to robot state
ea95492
@jaybdub
add parquet export example
6fbed37
@jaybdub
load parquet info
5b4ecf8
@jaybdub
fix segmentation overwrite issue
b50f84a
@jaybdub
update changelog and readme
2966cd4
@jaybdub
add occupancy map to cfg to support override
5842398
@jaybdub
add manual occ bounds to UI
7b200a9
@jaybdub
move robot after occ map build
35c8251
@jaybdub
added custom method for getting world pose, with major speedup
ff83733
@jaybdub
make robot use get_world_pose() method
baa0d1b
@jaybdub
fix type annotations
c09cdae
@jaybdub
add compression for path to reduce number of points for speed up
8694182
@jaybdub
use get_world_pose in get/set pose 2d methods to speed up
3ffd751
@jaybdub
reset on goal reach for path planning
cdfeb65
@jaybdub
add venv to gitignore
16b76b7
@jaybdub
modify build to open stage, add more fficient replay directory. TODO:…
4318aee 
… fix comments
@jaybdub
fix double use of count variable
f9a9acc
@jaybdub
make parquet conversion work with directory
95ba0e5
@jaybdub
use manual occupancy map path instead
3c0071d
@jaybdub
do not save ground plane in scenario
500d0a8
@jaybdub
add update state to reset
febf0de
@jaybdub
move scenario after robot
65f5b4f
@jaybdub
add docs for manual occ map gen
1a670a5
@jaybdub
add occupancy map generation instructions
35e1d77
@jaybdub
add visualization
40a39f8
@jaybdub
fix steps in readme
1e57a1a
@jaybdub
update changelog
9c01359
@jaybdub jaybdub requested a review from yanchangNvidia April 10, 2025 20:12
yanchangNvidia
yanchangNvidia reviewed Apr 11, 2025
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Overall it looks great to me. Left some comments.

README.md
@@ -163,30 +163,120 @@ Below details a typical workflow for collecting data with MobilityGen.
./scripts/launch_sim.sh
```

### Step 2 - Build a scenario
### Step 2 - Load a stage
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"scene" seems more commonly used than "stage"?

examples/05_convert_to_parquet.py
@@ -0,0 +1,111 @@
import argparse
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Why there is a "05" in the file title?

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This is given because this script is currently listed as an example (number 5). The purpose of the numbering is to provide developers with a rough progression to follow. I find this pattern helpful when I see it in other projects, like NVISII.

Maybe we should instead place this under "scripts", which is unordered, and meant more for direct usage, not modification

@yanchangNvidia yanchangNvidia requested a review from nv-liuw April 11, 2025 22:00
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@yanchangNvidia yanchangNvidia yanchangNvidia left review comments

@nv-liuw nv-liuw Awaiting requested review from nv-liuw

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@jaybdub @yanchangNvidia