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lisdf_reader.md

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LisdfReader

from tdw.add_ons.lisdf_reader import LisdfReader

Import data from an .sdf or .lisdf file into TDW as asset bundles and commands.

Models referenced by .sdf and .lisdf files can't be directly added into TDW; they must first be converted into asset bundles. These asset bundles will be saved to the local disk, meaning that converting data to asset bundles is a one-time process.

When read() is called, asset bundles are automatically generated if they don't already exist. Then this add-on appends commands to the controller to add the objects to the scene.

Fields

  • commands These commands will be appended to the commands of the next communicate() call.

  • initialized If True, this module has been initialized.

Functions

__init__

LisdfReader()

(no parameters)

get_initialization_commands

self.get_initialization_commands()

This function gets called exactly once per add-on. To re-initialize, set self.initialized = False.

Returns: A list of commands that will initialize this add-on.

on_send

self.on_send(resp)

This is called within Controller.communicate(commands) after commands are sent to the build and a response is received.

Use this function to send commands to the build on the next Controller.communicate(commands) call, given the resp response. Any commands in the self.commands list will be sent on the next Controller.communicate(commands) call.

Parameter Type Default Description
resp List[bytes] The response from the build.

before_send

self.before_send(commands)

This is called within Controller.communicate(commands) before sending commands to the build. By default, this function doesn't do anything.

Parameter Type Default Description
commands List[dict] The commands that are about to be sent to the build.

read

self.read(lisdf_path, output_directory)

self.read(lisdf_path, output_directory, overwrite=False, cleanup=True, robot_metadata=None, send_commands=True, quiet=False, display="0", unity_editor_path=None, check_version=True)

Read an .lisdf file and send commands to the build to add the objects to the scene. This will launch a process in the Asset Bundle Creator Unity project. If it needs to generate new asset bundles, it can take a while to finish reading and generating.

Example source directory:

source_directory/
....scene/
........kitchen.lisdf
....models/
........counter/
............urdf/
................counter_0.urdf
................textured_objs/
....................01.obj
.................... (etc.)
........ (etc.)
  • In this example, set lisdf_path to "source_directory/scene/kitchen.lisdf"
  • The location of the .urdf files must match the relative path in kitchen.lisdf (in this case, ../models.counter/urdf/counter_0.urdf)
  • The location of the .obj files must match the relative path in the .urdf files (in this case, counter_0.urdf is expecting meshes to be in textured_objs/)

Example output directory after running LisdfReader.read():

output_directory/
....counter_0/
........model.json
........Darwin/
............counter_0
........Linux/
............counter_0
........Windows/
............counter_0
....commands.json
....log.txt
  • model.json is a JSON representation of the model structure. This can be useful for debugging.
  • Darwin/counter_0, Linux/counter_0 and Windows/counter_0 are the platform-specific asset bundles.
  • commands.json is the list of commands that can be sent to the build. They will be sent automatically if the send_commands=True.
  • log.txt is a log of all events while creating asset bundles, including errors.
Parameter Type Default Description
lisdf_path Union[str, Path] The path to the .lisdf file as either a string or Path.
output_directory Union[str, Path] The directory of the object asset bundles as either a string or Path. If it doesn't exist, it will be created while the .lisdf models are being converted.
overwrite bool False If True, overwrite any asset bundles in output_directory. If False, skip converting models if the asset bundles already exist. This should usually be False, especially if you're using robot asset bundles generated by RobotCreator.
cleanup bool True If True, delete intermediary files such as .prefab files generated while creating asset bundles.
robot_metadata List[LisdfRobotMetadata] None If not None, this is a list of LisdfRobotMetadata. If there are any robots in the scene, they must be added to this list, or else they will be imported incorrectly.
send_commands bool True If True, the commands generated from the .lisdf file will be sent the next time c.communicate() is called.
quiet bool False If True, don't print any messages to console.
display str "0" The display to launch Unity Editor on. Ignored if this isn't Linux.
unity_editor_path Union[Path, str] None The path to the Unity Editor executable, for example C:/Program Files/Unity/Hub/Editor/2020.3.24f1/Editor/Unity.exe. If None, this script will try to find Unity Editor automatically.
check_version bool True If True, check if there is an update to the Unity Editor project.