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Proof of concept for headless SDF exporting #215
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Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
…ort_poc Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
…a/headless_sdf_export_poc Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
…/headless_sdf_export_poc Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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I've finished reviewing the whole PR. I think the vast bulk of it is good to go, but I left some comments about places where we can have more graceful failures (i.e. avoid unwrapping).
I also left some feedback on the new camera poses feature. I think most of my feedback can/should be addressed in a follow up PR so we don't needlessly block this PR for too long, but there are two pieces of feedback that I think are worth addressing before we merge this PR:
- I think
CameraPoses
should be renamed to something likeUserCameraPoses
to clearly distinguish it from the poses of simulated camera devices. - I'd rather not automatically change the user's camera pose when switching between levels.
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
* Use site ID to ensure unique file names Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai> * Fix style Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai> * Fix door names for toggle floors plugin Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> --------- Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai>
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It's awesome to see this in action 🤩
This is a huge step forward towards the next generation. Thanks for getting this to work!
I tried this it works great. For usability I ran into 2 small issues:
I probably can open PRs early next week for (2). |
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Since this capability is only meant to make the site editor a replacement for the building map tools, I think the current environment variable situation should remain as-is. If we want to make the simulation pipeline with gazebo easier, that should be its own follow-up discussion. |
New feature implementation
Implemented feature
Add support for SDF exporting as well as a headless export mode for integration with the legacy pipeline.
For more details refer to the tracking issue#210
#212 and #214 have been locally merged to get a fully working branch
Implementation description
The headless part has been pretty hacked together but hopefully it doesn't affect the rest of the codebase too much since it happens in a completely separate executor / execution path.