Add visualization for terrain and object-terrain

visualize.py

@@ -17,6 +17,7 @@ from pydrake.all import (
 ROBOT_FAKE_HAND_PATH = "models/g1/g1_29dof.urdf"
 ROBOT_SPHERE_HAND_PATH = "models/g1/g1_29dof_spherehand.urdf"
 LARGEBOX_PATH = "models/largebox/largebox.urdf"
+CHAIR_PATH = "models/chair/chair.urdf"
 
 
 def create_plant(
@@ -91,5 +92,52 @@ def visualize_robot_object():
         input()
 
 
+def visualize_robot_terrain():
+    robot_terrain_files = find_files("robot-terrain")
+    for robot_terrain_file in robot_terrain_files:
+        file_name = str(Path(robot_terrain_file).stem)
+        print(file_name)
+        object_folder_name = "models/terrain/" + file_name[:8]
+        z_scale = file_name[8:]
+        object_model_path = object_folder_name + "/multi_boxes" + z_scale + ".urdf"
+        plant, vis, diagram = create_plant(ROBOT_SPHERE_HAND_PATH, object_model_path)
+        data = np.load(robot_terrain_file)
+        q_knots = data["qpos"]
+        fps = data["fps"]
+        draw_q_knots(vis, plant, diagram, q_knots, 1 / fps)
+        input()
+
+
+def visualize_robot_object_terrain():
+    robot_object_terrain_files = find_files("robot-object-terrain")
+    for robot_object_terrain_file in robot_object_terrain_files:
+        file_name = str(Path(robot_object_terrain_file).stem)
+        print(file_name)
+        terrain_folder_name = "models/terrain/" + file_name[:8]
+        if "z_scale" in file_name:
+            z_scale = file_name[-12:]
+        else:
+            z_scale = "_z_scale_1.0"
+        terrain_model_path = terrain_folder_name + "/multi_boxes" + z_scale + ".urdf"
+        if "original" in file_name:
+            object_model_path = [CHAIR_PATH, terrain_model_path]
+        else:
+            chair_scale = file_name[9:25]
+            chair_model_path = "models/chair/" + chair_scale + ".urdf"
+            object_model_path = [chair_model_path, terrain_model_path]
+        plant, vis, diagram = create_plant(ROBOT_SPHERE_HAND_PATH, object_model_path)
+        data = np.load(robot_object_terrain_file)
+        q_knots = data["qpos"]
+        fps = data["fps"]
+        draw_q_knots(vis, plant, diagram, q_knots, 1 / fps)
+        input()
+
+
 if __name__ == "__main__":
-    visualize_robot_object()
+    task = "object-terrain"
+    if task == "object":
+        visualize_robot_object()
+    elif task == "terrain":
+        visualize_robot_terrain()
+    elif task == "object-terrain":
+        visualize_robot_object_terrain()