Merge branch 'master' into shadow

gibson2/__init__.py

@@ -9,8 +9,19 @@
 with open(os.path.join(os.path.dirname(os.path.realpath(__file__)), 'global_config.yaml')) as f:
     global_config = yaml.load(f, Loader=yaml.FullLoader)
 
-assets_path = global_config['assets_path']
-dataset_path = global_config['dataset_path']
+# can override assets_path and dataset_path from environment variable
+if 'GIBSON_ASSETS_PATH' in os.environ:
+    assets_path = os.environ['GIBSON_ASSETS_PATH']
+else:
+    assets_path = global_config['assets_path']
+assets_path = os.path.expanduser(assets_path)
+
+if 'GIBSON_DATASET_PATH' in os.environ:
+    dataset_path = os.environ['GIBSON_DATASET_PATH']
+else:
+    dataset_path = global_config['dataset_path']
+dataset_path = os.path.expanduser(dataset_path)
+
 root_path = os.path.dirname(os.path.realpath(__file__))
 
 if not os.path.isabs(assets_path):

gibson2/core/render/mesh_renderer/mesh_renderer_cpu.py

@@ -1,3 +1,4 @@
+import os
 import sys
 import ctypes
 
@@ -329,14 +330,21 @@ def __init__(self, width=512, height=512, vertical_fov=90, device_idx=0, use_fis
         self.faces = []
         self.instances = []
         self.fisheye = use_fisheye
+
         self.enable_shadow = enable_shadow
-        available_devices = get_available_devices()
-        if device_idx < len(available_devices):
-            device = available_devices[device_idx]
-            logging.info("Using device {} for rendering".format(device))
+
+        if os.environ.get('GIBSON_DEVICE_ID', None):
+            device = int(os.environ.get('GIBSON_DEVICE_ID'))
+            logging.info(f'GIBSON_DEVICE_ID environment variable has been manually set. '
+                         f'Using device {device} for rendering')
         else:
-            logging.info("Device index is larger than number of devices, falling back to use 0")
-            device = 0
+            available_devices = get_available_devices()
+            if device_idx < len(available_devices):
+                device = available_devices[device_idx]
+                logging.info(f"Using device {device} for rendering")
+            else:
+                logging.info("Device index is larger than number of devices, falling back to use 0")
+                device = 0
 
         self.device_idx = device_idx
         self.device_minor = device

gibson2/envs/locomotor_env.py

@@ -308,7 +308,7 @@ def get_normal(self):
         """
         :return: surface normal reading
         """
-        return self.simulator.renderer.render_robot_cameras(modes='normal')
+        return self.simulator.renderer.render_robot_cameras(modes='normal')[0][:, :, :3]
 
     def get_seg(self):
         """

gibson2/utils/utils.py

@@ -1,9 +1,18 @@
+import os
 import numpy as np
 import yaml
+import collections.abc
 from scipy.spatial.transform import Rotation as R
 
 # File I/O related
 def parse_config(config):
+    if isinstance(config, collections.abc.Mapping):
+        return config
+    else:
+        assert isinstance(config, str)
+
+    if not os.path.exists(config):
+        raise FileNotFoundError(f'config path {config} does not exist. Please either pass in a dict or a string that represents the file path to the config yaml.')
     with open(config, 'r') as f:
         config_data = yaml.load(f, Loader=yaml.FullLoader)
     return config_data