Merge pull request #128 from fxia22/move_examples

Move examples to gibson2 package

Jenkinsfile

@@ -27,24 +27,24 @@ pipeline {
         stage('Test') {
             steps {
                 sh 'mkdir result'
-                sh 'pytest test/test_binding.py --junitxml=test_result/test_binding.py.xml'
-                sh 'pytest test/test_render.py --junitxml=test_result/test_render.py.xml'
-                sh 'pytest test/test_pbr.py --junitxml=test_result/test_pbr.py.xml'
-                sh 'pytest test/test_object.py --junitxml=test_result/test_object.py.xml'
-                sh 'pytest test/test_simulator.py --junitxml=test_result/test_simulator.py.xml'
-                sh 'pytest test/test_igibson_env.py --junitxml=test_result/test_igibson_env.py.xml'
-                sh 'pytest test/test_scene_importing.py --junitxml=test_result/test_scene_importing.py.xml'
-                sh 'pytest test/test_robot.py --junitxml=test_result/test_robot.py.xml'
-                sh 'pytest test/test_igsdf_scene_importing.py --junitxml=test_result/test_igsdf_scene_importing.py.xml'
-                sh 'pytest test/test_sensors.py --junitxml=test_result/test_sensors.py.xml'
-                sh 'pytest test/test_motion_planning.py --junitxml=test_result/test_motion_planning.py.xml'
+                sh 'pytest gibson2/test/test_binding.py --junitxml=test_result/test_binding.py.xml'
+                sh 'pytest gibson2/test/test_render.py --junitxml=test_result/test_render.py.xml'
+                sh 'pytest gibson2/test/test_pbr.py --junitxml=test_result/test_pbr.py.xml'
+                sh 'pytest gibson2/test/test_object.py --junitxml=test_result/test_object.py.xml'
+                sh 'pytest gibson2/test/test_simulator.py --junitxml=test_result/test_simulator.py.xml'
+                sh 'pytest gibson2/test/test_igibson_env.py --junitxml=test_result/test_igibson_env.py.xml'
+                sh 'pytest gibson2/test/test_scene_importing.py --junitxml=test_result/test_scene_importing.py.xml'
+                sh 'pytest gibson2/test/test_robot.py --junitxml=test_result/test_robot.py.xml'
+                sh 'pytest gibson2/test/test_igsdf_scene_importing.py --junitxml=test_result/test_igsdf_scene_importing.py.xml'
+                sh 'pytest gibson2/test/test_sensors.py --junitxml=test_result/test_sensors.py.xml'
+                sh 'pytest gibson2/test/test_motion_planning.py --junitxml=test_result/test_motion_planning.py.xml'
             }
         }
 
         stage('Benchmark') {
             steps {
-                sh 'python test/benchmark/benchmark_static_scene.py'
-                sh 'python test/benchmark/benchmark_interactive_scene.py'
+                sh 'python gibson2/test/benchmark/benchmark_static_scene.py'
+                sh 'python gibson2/test/benchmark/benchmark_interactive_scene.py'
             }
         }
 

docker/base/Dockerfile

@@ -45,4 +45,4 @@ RUN pip install -e .
 RUN python -m gibson2.utils.assets_utils --download_assets
 RUN python -m gibson2.utils.assets_utils --download_demo_data
 
-WORKDIR /opt/igibson/examples/demo
+WORKDIR /opt/igibson/gibson2/examples/demo

docker/headless-gui/Dockerfile

@@ -21,5 +21,5 @@ COPY entrypoint.sh /opt/misc
 
 ENV QT_X11_NO_MITSHM=1
 ENV DISPLAY=:0
-WORKDIR /opt/igibson/examples/demo
+WORKDIR /opt/igibson/gibson2/examples/demo
 ENTRYPOINT ["/opt/misc/entrypoint.sh"]

docs/assets.md

@@ -38,7 +38,7 @@ assets
 ├── test
 │   └── mesh
 └── example_configs
-    └── {}.yaml
+    └── {}.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. 

docs/conf.py

@@ -25,8 +25,8 @@
 
 
 project = 'iGibson'
-copyright = 'Stanford University 2018-2020'
-author = 'Fei Xia, William B. Shen, Chengshu Li, Micael Tchapmi, Lyne Tchapmi, Noriaki Hirose, Kevin Chen, Junyoung Gwak Priya Kasimbeg, Alexander Toshev,  Amir R. Zamir, Roberto Martı́n-Martı́n, Li Fei-Fei, Silvio Savarese'
+copyright = 'Stanford University 2018-2021'
+author = 'Bokui Shen*, Fei Xia*, Chengshu Li*, Roberto Martín-Martín*, Linxi Fan, Guanzhi Wang, Shyamal Buch, Claudia DArpino, Sanjana Srivastava, Lyne P. Tchapmi, Micael E. Tchapmi, Kent Vainio, Li Fei-Fei, Silvio Savarese (*Equal Contribution)'
 
 github_doc_root = 'https://github.com/StanfordVL/iGibson'
 

docs/environments.md

@@ -194,7 +194,7 @@ In this example, we show how to instantiate `iGibsonEnv` and how to step through
 - `reward`: a scalar that represents the current reward
 - `done`: a boolean that indicates whether the episode should terminate
 - `info`: a python dictionary for bookkeeping purpose
-The code can be found here: [examples/demo/env_example.py](https://github.com/StanfordVL/iGibson/blob/master/examples/demo/env_example.py).
+The code can be found here: [gibson2/examples/demo/env_example.py](https://github.com/StanfordVL/iGibson/blob/master/gibson2/examples/demo/env_example.py).
 
 ```python
 from gibson2.envs.igibson_env import iGibsonEnv
@@ -206,9 +206,7 @@ import logging
 
 
 def main():
-    config_filename = os.path.join(
-        os.path.dirname(gibson2.__file__),
-        '../examples/configs/turtlebot_demo.yaml')
+    config_filename = os.path.join(gibson2.example_config_path, 'turtlebot_demo.yaml')
     env = iGibsonEnv(config_file=config_filename, mode='gui')
     for j in range(10):
         env.reset()
@@ -228,4 +226,4 @@ if __name__ == "__main__":
 ```
 
 #### Interactive Environments
-In this example, we show how to instantiate `iGibsobEnv` with a fully interactive scene `Rs_int`. In this scene, the robot can interact with all the objects in the scene (chairs, tables, couches, etc). The code can be found here: [examples/demo/env_interactive_example.py](https://github.com/StanfordVL/iGibson/blob/master/examples/demo/env_interactive_example.py).
+In this example, we show how to instantiate `iGibsobEnv` with a fully interactive scene `Rs_int`. In this scene, the robot can interact with all the objects in the scene (chairs, tables, couches, etc). The code can be found here: [gibson2/examples/demo/env_interactive_example.py](https://github.com/StanfordVL/iGibson/blob/master/gibson2/examples/demo/env_interactive_example.py).

docs/installation.md

@@ -33,7 +33,7 @@ iGibson's simulator can be installed as a python package using pip:
 ```bash
 pip install gibson2  # This step takes about 4 minutes
 # run the demo
-python -m gibson2.scripts.demo_static
+python -m gibson2.examples.demo.demo_static
 ```
 
 Note: we support using a custom pybullet version to speed up the physics in iGibson, if you want to have the speed up, you would need to do the following steps after installation:

docs/objects.md

@@ -24,7 +24,7 @@ Instruction can be found here: [External Objects](https://github.com/StanfordVL/
 
 
 ### Examples
-In this example, we import three objects into PyBullet, two of which are articulated objects. The code can be found here: [examples/demo/object_example.py](https://github.com/StanfordVL/iGibson/blob/master/examples/demo/object_example.py).
+In this example, we import three objects into PyBullet, two of which are articulated objects. The code can be found here: [gibson2/examples/demo/object_example.py](https://github.com/StanfordVL/iGibson/blob/master/gibson2/examples/demo/object_example.py).
 
 ```python
 from gibson2.objects.ycb_object import YCBObject

docs/physics_engine.md

@@ -8,7 +8,7 @@ Typically, we use `p.createMultiBody` and `p.loadURDF` to load scenes, objects a
 More info can be found in here: [PyBullet documentation](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA).
 
 ### Examples
-In this example, we import a scene, a robot and an object into PyBullet and step through a few seconds of simulation. The code can be found here:[examples/demo/physics_engine_example.py](https://github.com/StanfordVL/iGibson/blob/master/examples/demo/physics_engine_example.py).
+In this example, we import a scene, a robot and an object into PyBullet and step through a few seconds of simulation. The code can be found here:[gibson2/examples/demo/physics_engine_example.py](https://github.com/StanfordVL/iGibson/blob/master/gibson2/examples/demo/physics_engine_example.py).
 
 ```python
 import pybullet as p

docs/quickstart.md

@@ -4,8 +4,7 @@
 Assume you finished installation and assets downloading. Let's get our hands dirty and see iGibson in action.
 
 ```bash
-cd examples/demo
-python env_example.py
+python -m gibson2.examples.demo.env_example
 ```
 You should see something like this:
 ![quickstart.png](images/quickstart.png)
@@ -55,8 +54,7 @@ simulation framerate in iGibson.
 
 ### Benchmark static scene (Gibson scenes)
 ```bash
-cd test/benchmark
-python benchmark_static_scene.py
+python -m gibson2.test.benchmark.benchmark_static_scene
 ```
 
 You will see output similar to:
@@ -76,8 +74,7 @@ Rendering normal, resolution 512, render_to_tensor False: 265.70666134193806 fps
 ### Benchmark physics simulation in interactive scenes (iGibson scene)
 
 ```bash
-cd test/benchmark
-python benchmark_interactive_scene.py
+python -m gibson2.test.benchmark.benchmark_interactive_scene
 ```
 
 It will generate a report like below:
@@ -90,8 +87,7 @@ It will generate a report like below:
 To run a comprehensive benchmark for all rendering in all iGibson scenes, you can excute the following command:
 
 ```bash
-cd test/benchmark
-python benchmark_interactive_scene_rendering.py
+python -m gibson2.test.benchmark.benchmark_interactive_scene_rendering
 ```
 
 It benchmarks two use cases, one for training visual RL agents (low resolution, shadow mapping off), another one for

docs/renderer.md

@@ -8,7 +8,7 @@ We developed our own MeshRenderer that supports customizable camera configuratio
 
 #### Simple Example
 
-In this example, we render an iGibson scene with a few lines of code. The code can be found in [examples/demo/mesh_renderer_simple_example.py](https://github.com/StanfordVL/iGibson/blob/master/examples/demo/mesh_renderer_simple_example.py).
+In this example, we render an iGibson scene with a few lines of code. The code can be found in [gibson2/examples/demo/mesh_renderer_simple_example.py](https://github.com/StanfordVL/iGibson/blob/master/gibson2/examples/demo/mesh_renderer_simple_example.py).
 
 ```
 import cv2
@@ -51,10 +51,9 @@ For `Rs` scene, the rendering results will look like this:
 In this example, we show an interactive demo of MeshRenderer.
 
 ```bash
-cd examples/demo
-python mesh_renderer_example.py
+python -m gibson2.examples.demo.mesh_renderer_example
 ```
-You may translate the camera by pressing "WASD" on your keyboard and rotate the camera by dragging your mouse. Press `Q` to exit the rendering loop. The code can be found in [examples/demo/mesh_renderer_example.py](https://github.com/StanfordVL/iGibson/blob/master/examples/demo/mesh_renderer_example.py).
+You may translate the camera by pressing "WASD" on your keyboard and rotate the camera by dragging your mouse. Press `Q` to exit the rendering loop. The code can be found in [gibson2/examples/demo/mesh_renderer_example.py](https://github.com/StanfordVL/iGibson/blob/master/gibson2/examples/demo/mesh_renderer_example.py).
 
 #### PBR (Physics-Based Rendering) Example
 
@@ -63,8 +62,7 @@ You can test the physically based renderer with the PBR demo. You can render any
   obj files in the folder.
 
 ```bash
-cd examples/demo
-python mesh_renderer_example_pbr.py <path to ig_dataset>/objects/sink/sink_1/shape/visual
+python -m gibson2.examples.demo.mesh_renderer_example_pbr <path to ig_dataset>/objects/sink/sink_1/shape/visual
 ```
 ![pbr_renderer.png](images/pbr_render.png)
 
@@ -73,12 +71,12 @@ You will get a nice rendering of the sink, and should see the metal parts have s
 
 
 #### Velodyne VLP-16 Example
-In this example, we show a demo of 16-beam Velodyne VLP-16 LiDAR placed on top of a virtual Turtlebot. The code can be found in [examples/demo/lidar_velodyne_example.py](https://github.com/StanfordVL/iGibson/blob/master/examples/demo/lidar_velodyne_example.py).
+In this example, we show a demo of 16-beam Velodyne VLP-16 LiDAR placed on top of a virtual Turtlebot. The code can be found in [gibson2/examples/demo/lidar_velodyne_example.py](https://github.com/StanfordVL/iGibson/blob/master/gibson2/examples/demo/lidar_velodyne_example.py).
 
 The Velodyne VLP-16 LiDAR visualization will look like this:
 ![lidar_velodyne.png](images/lidar_velodyne.png)
 
 #### Render to PyTorch Tensors
 
-In this example, we show that MeshRenderer can directly render into a PyTorch tensor to maximize efficiency. PyTorch installation is required (otherwise, iGibson does not depend on PyTorch). The code can be found in [examples/demo/mesh_renderer_gpu_example.py](https://github.com/StanfordVL/iGibson/blob/master/examples/demo/mesh_renderer_gpu_example.py).
+In this example, we show that MeshRenderer can directly render into a PyTorch tensor to maximize efficiency. PyTorch installation is required (otherwise, iGibson does not depend on PyTorch). The code can be found in [gibson2/examples/demo/mesh_renderer_gpu_example.py](https://github.com/StanfordVL/iGibson/blob/master/gibson2/examples/demo/mesh_renderer_gpu_example.py).
 

docs/robots.md

@@ -41,7 +41,7 @@ Note that `robot_action` is a normalized joint velocity, i.e. `robot_action[n] =
 Most of the code can be found here: [gibson2/robots](https://github.com/StanfordVL/iGibson/blob/master/gibson2/robots).
 
 ### Examples
-In this example, we import four different robots into PyBullet. We keep them still for around 10 seconds and then move them with small random actions for another 10 seconds. The code can be found here: [examples/demo/robot_example.py](https://github.com/StanfordVL/iGibson/blob/master/examples/demo/robot_example.py).
+In this example, we import four different robots into PyBullet. We keep them still for around 10 seconds and then move them with small random actions for another 10 seconds. The code can be found here: [gibson2/examples/demo/robot_example.py](https://github.com/StanfordVL/iGibson/blob/master/gibson2/examples/demo/robot_example.py).
 
 ```python
 from gibson2.robots.locobot_robot import Locobot
@@ -54,7 +54,7 @@ import time
 import numpy as np
 import pybullet as p
 import pybullet_data
-
+import gibson2
 
 def main():
     p.connect(p.GUI)
@@ -65,19 +65,19 @@ def main():
     p.loadMJCF(floor)
 
     robots = []
-    config = parse_config('../configs/fetch_reaching.yaml')
+    config = parse_config(os.path.join(gibson2.example_config_path, 'fetch_reaching.yaml'))
     fetch = Fetch(config)
     robots.append(fetch)
 
-    config = parse_config('../configs/jr_reaching.yaml')
+    config = parse_config(os.path.join(gibson2.example_config_path,'jr_reaching.yaml'))
     jr = JR2_Kinova(config)
     robots.append(jr)
 
-    config = parse_config('../configs/locobot_point_nav.yaml')
+    config = parse_config(os.path.join(gibson2.example_config_path, 'locobot_point_nav.yaml'))
     locobot = Locobot(config)
     robots.append(locobot)
 
-    config = parse_config('../configs/turtlebot_point_nav.yaml')
+    config = parse_config(os.path.join(gibson2.example_config_path, 'turtlebot_point_nav.yaml'))
     turtlebot = Turtlebot(config)
     robots.append(turtlebot)