Merge pull request #3940 from rajat2004/list-assets

Add API to list all assets

Author: zimmy87

AirLib/include/api/RpcLibClientBase.hpp

@@ -65,6 +65,9 @@ namespace airlib
         Vector3r simGetObjectScale(const std::string& object_name) const;
         bool simSetObjectPose(const std::string& object_name, const Pose& pose, bool teleport = true);
         bool simSetObjectScale(const std::string& object_name, const Vector3r& scale);
+        std::string simSpawnObject(const std::string& object_name, const std::string& load_component, const Pose& pose,
+                                   const Vector3r& scale, bool physics_enabled);
+        bool simDestroyObject(const std::string& object_name);
 
         //task management APIs
         void cancelLastTask(const std::string& vehicle_name = "");
@@ -144,6 +147,8 @@ namespace airlib
 
         std::string getSettingsString() const;
 
+        std::vector<std::string> simListAssets() const;
+
     protected:
         void* getClient();
         const void* getClient() const;

AirLib/include/api/WorldSimApiBase.hpp

@@ -34,6 +34,7 @@ namespace airlib
         virtual bool loadLevel(const std::string& level_name) = 0;
         virtual string spawnObject(const std::string& object_name, const std::string& load_component, const Pose& pose, const Vector3r& scale, bool physics_enabled, bool is_blueprint) = 0;
         virtual bool destroyObject(const std::string& object_name) = 0;
+        virtual std::vector<std::string> listAssets() const = 0;
 
         virtual bool isPaused() const = 0;
         virtual void reset() = 0;

AirLib/src/api/RpcLibClientBase.cpp

@@ -431,6 +431,17 @@ __pragma(warning(disable : 4239))
             return pimpl_->client.call("simLoadLevel", level_name).as<bool>();
         }
 
+        std::string RpcLibClientBase::simSpawnObject(const std::string& object_name, const std::string& load_component, const Pose& pose,
+                                                     const Vector3r& scale, bool physics_enabled)
+        {
+            return pimpl_->client.call("simSpawnObject", object_name, load_component, RpcLibAdaptorsBase::Pose(pose), RpcLibAdaptorsBase::Vector3r(scale), physics_enabled).as<std::string>();
+        }
+
+        bool RpcLibClientBase::simDestroyObject(const std::string& object_name)
+        {
+            return pimpl_->client.call("simDestroyObject", object_name).as<bool>();
+        }
+
         msr::airlib::Vector3r RpcLibClientBase::simGetObjectScale(const std::string& object_name) const
         {
             return pimpl_->client.call("simGetObjectScale", object_name).as<RpcLibAdaptorsBase::Vector3r>().to();
@@ -543,6 +554,11 @@ __pragma(warning(disable : 4239))
             return pimpl_->client.call("getSettingsString").as<std::string>();
         }
 
+        std::vector<std::string> RpcLibClientBase::simListAssets() const
+        {
+            return pimpl_->client.call("simListAssets").as<std::vector<std::string>>();
+        }
+
         void* RpcLibClientBase::getClient()
         {
             return &pimpl_->client;

AirLib/src/api/RpcLibServerBase.cpp

@@ -310,6 +310,10 @@ namespace airlib
             return getWorldSimApi()->destroyObject(object_name);
         });
 
+        pimpl_->server.bind("simListAssets", [&]() -> std::vector<std::string> {
+            return getWorldSimApi()->listAssets();
+        });
+
         pimpl_->server.bind("simGetObjectPose", [&](const std::string& object_name) -> RpcLibAdaptorsBase::Pose {
             const auto& pose = getWorldSimApi()->getObjectPose(object_name);
             return RpcLibAdaptorsBase::Pose(pose);

PythonClient/airsim/client.py

@@ -110,7 +110,7 @@ def simContinueForTime(self, seconds):
             seconds (float): Time to run the simulation for
         """
         self.client.call('simContinueForTime', seconds)
-    
+
     def simContinueForFrames(self, frames):
         """
         Continue (or resume if paused) the simulation for the specified number of frames, after which the simulation will be paused.
@@ -305,7 +305,7 @@ def simGetImages(self, requests, vehicle_name = '', external = False):
         """
         responses_raw = self.client.call('simGetImages', requests, vehicle_name, external)
         return [ImageResponse.from_msgpack(response_raw) for response_raw in responses_raw]
-        
+
     def simTestLineOfSightToPoint(self, point, vehicle_name = ''):
         """
         Returns whether the target point is visible from the perspective of the inputted vehicle
@@ -318,7 +318,7 @@ def simTestLineOfSightToPoint(self, point, vehicle_name = ''):
             [bool]: Success
         """
         return self.client.call('simTestLineOfSightToPoint', point, vehicle_name)
-        
+
     def simTestLineOfSightBetweenPoints(self, point1, point2):
         """
         Returns whether the target point is visible from the perspective of the source point
@@ -331,7 +331,7 @@ def simTestLineOfSightBetweenPoints(self, point1, point2):
             [bool]: Success
         """
         return self.client.call('simTestLineOfSightBetweenPoints', point1, point2)
-        
+
     def simGetWorldExtents(self):
         """
         Returns a list of GeoPoints representing the minimum and maximum extents of the world
@@ -483,7 +483,7 @@ def simListSceneObjects(self, name_regex = '.*'):
             list[str]: List containing all the names
         """
         return self.client.call('simListSceneObjects', name_regex)
-        
+
     def simLoadLevel(self, level_name):
         """
         Loads a level specified by its name
@@ -496,28 +496,37 @@ def simLoadLevel(self, level_name):
         """
         return self.client.call('simLoadLevel', level_name)
 
+    def simListAssets(self):
+        """
+        Lists all the assets present in the Asset Registry
+
+        Returns:
+            list[str]: Names of all the assets
+        """
+        return self.client.call('simListAssets')
+
     def simSpawnObject(self, object_name, asset_name, pose, scale, physics_enabled=False, is_blueprint=False):
         """Spawned selected object in the world
-        
+
         Args:
             object_name (str): Desired name of new object
             asset_name (str): Name of asset(mesh) in the project database
             pose (airsim.Pose): Desired pose of object
             scale (airsim.Vector3r): Desired scale of object
             physics_enabled (bool, optional): Whether to enable physics for the object
             is_blueprint (bool, optional): Whether to spawn a blueprint or an actor
-        
+
         Returns:
             str: Name of spawned object, in case it had to be modified
         """
         return self.client.call('simSpawnObject', object_name, asset_name, pose, scale, physics_enabled, is_blueprint)
 
     def simDestroyObject(self, object_name):
         """Removes selected object from the world
-        
+
         Args:
             object_name (str): Name of object to be removed
-        
+
         Returns:
             bool: True if object is queued up for removal
         """
@@ -567,7 +576,7 @@ def simAddDetectionFilterMeshName(self, camera_name, image_type, mesh_name, vehi
 
         """
         self.client.call('simAddDetectionFilterMeshName', camera_name, image_type, mesh_name, vehicle_name, external)
-    
+
     def simSetDetectionFilterRadius(self, camera_name, image_type, radius_cm, vehicle_name = '', external = False):
         """
         Set detection radius for all cameras
@@ -580,7 +589,7 @@ def simSetDetectionFilterRadius(self, camera_name, image_type, radius_cm, vehicl
             external (bool, optional): Whether the camera is an External Camera
         """
         self.client.call('simSetDetectionFilterRadius', camera_name, image_type, radius_cm, vehicle_name, external)
-     
+
     def simClearDetectionMeshNames(self, camera_name, image_type, vehicle_name = '', external = False):
         """
         Clear all mesh names from detection filter
@@ -654,7 +663,7 @@ def simGetDistortionParams(self, camera_name, vehicle_name = '', external = Fals
         Returns:
             List (float): List of distortion parameter values corresponding to K1, K2, K3, P1, P2 respectively.
         """
-    
+
         return self.client.call('simGetDistortionParams', str(camera_name), vehicle_name, external)
 
     def simSetDistortionParams(self, camera_name, distortion_params, vehicle_name = '', external = False):
@@ -975,7 +984,7 @@ def simSetWind(self, wind):
         Set simulated wind, in World frame, NED direction, m/s
 
         Args:
-            wind (Vector3r): Wind, in World frame, NED direction, in m/s 
+            wind (Vector3r): Wind, in World frame, NED direction, in m/s
         """
         self.client.call('simSetWind', wind)
 

PythonClient/environment/create_objects.py

@@ -0,0 +1,32 @@
+import setup_path
+import airsim
+import random
+import time
+
+client = airsim.VehicleClient()
+client.confirmConnection()
+
+assets = client.simListAssets()
+print(f"Assets: {assets}")
+
+scale = airsim.Vector3r(1.0, 1.0, 1.0)
+
+# asset_name = random.choice(assets)
+asset_name = '1M_Cube_Chamfer'
+
+desired_name = f"{asset_name}_spawn_{random.randint(0, 100)}"
+pose = airsim.Pose(position_val=airsim.Vector3r(5.0, 0.0, 0.0))
+
+obj_name = client.simSpawnObject(desired_name, asset_name, pose, scale, True)
+
+print(f"Created object {obj_name} from asset {asset_name} "
+      f"at pose {pose}, scale {scale}")
+
+all_objects = client.simListSceneObjects()
+if obj_name not in all_objects:
+    print(f"Object {obj_name} not present!")
+
+time.sleep(10.0)
+
+print(f"Destroying {obj_name}")
+client.simDestroyObject(obj_name)

Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp

@@ -397,4 +397,12 @@ std::vector<msr::airlib::DetectionInfo> WorldSimApi::getDetections(ImageCaptureB
     return std::vector<msr::airlib::DetectionInfo>();
 }
 
+std::vector<std::string> WorldSimApi::listAssets() const
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+                                    "listAssets API is not supported on Unity")
+                                    .c_str());
+    return {};
+}
+
 #pragma endregion

Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h

@@ -20,6 +20,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     virtual bool loadLevel(const std::string& level_name) override { return false; };
     virtual std::string spawnObject(const std::string& object_name, const std::string& load_component, const Pose& pose, const Vector3r& scale, bool physics_enabled, bool is_blueprint) override { return ""; };
     virtual bool destroyObject(const std::string& object_name) override { return false; };
+    virtual std::vector<std::string> listAssets() const override;
 
     virtual bool isPaused() const override;
     virtual void reset() override;

Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp

@@ -248,7 +248,7 @@ void UAirBlueprintLib::GenerateAssetRegistryMap(const UObject* context, TMap<FSt
         AssetRegistryModule.Get().GetAssets(Filter, AssetData);
 
         UObject* LoadObject = NULL;
-        for (auto asset : AssetData) {
+        for (const auto& asset : AssetData) {
             FString asset_name = asset.AssetName.ToString();
             asset_map.Add(asset_name, asset);
         }

Unreal/Plugins/AirSim/Source/WorldSimApi.cpp

@@ -85,6 +85,17 @@ bool WorldSimApi::destroyObject(const std::string& object_name)
     return result;
 }
 
+std::vector<std::string> WorldSimApi::listAssets() const
+{
+    std::vector<std::string> all_assets;
+
+    for (const TPair<FString, FAssetData>& pair : simmode_->asset_map) {
+        all_assets.push_back(std::string(TCHAR_TO_UTF8(*pair.Key)));
+    }
+
+    return all_assets;
+}
+
 std::string WorldSimApi::spawnObject(const std::string& object_name, const std::string& load_object, const WorldSimApi::Pose& pose, const WorldSimApi::Vector3r& scale, bool physics_enabled, bool is_blueprint)
 {
     FString asset_name(load_object.c_str());