def test_jr2():
s = Simulator(mode='gui')
try:
scene = BuildingScene('Ohoopee')
s.import_scene(scene)
jr2 = JR2_Kinova(config)
s.import_robot(jr2)
jr2.set_position([-6, 0, 0.1])
obj3 = InteractiveObj(os.path.join(gibson2.assets_path, 'models',
'scene_components', 'door.urdf'),
scale=2)
s.import_interactive_object(obj3)
obj3.set_position_rotation(
[-5, -1, 0], [0, 0, np.sqrt(0.5), np.sqrt(0.5)])
jr2.apply_action([0.005, 0.005, 0, 0, 0, 0, 0, 0, 0, 0])
for _ in range(400):
s.step()
jr2.apply_action([
0, 0, 0, 0, 3.1408197119196117, -1.37402907967774,
-0.8377005721485424, -1.9804208517373096, 0.09322135043256494,
2.62937740156038
])
for _ in range(400):
s.step()
finally:
s.disconnect()
def test_import_rbo_object():
s = Simulator(mode='headless')
try:
scene = StadiumScene()
s.import_scene(scene)
obj = RBOObject('book')
s.import_interactive_object(obj)
obj2 = RBOObject('microwave')
s.import_interactive_object(obj2)
obj.set_position([0, 0, 2])
obj2.set_position([0, 1, 2])
obj3 = InteractiveObj(
os.path.join(gibson2.assets_path, 'models', 'scene_components',
'door.urdf'))
s.import_interactive_object(obj3)
for i in range(100):
s.step()
finally:
s.disconnect()
from gibson2.utils.utils import parse_config
from gibson2.core.physics.interactive_objects import InteractiveObj
import gibson2
import os
import numpy as np
import pybullet as p
if __name__ == '__main__':
s = Simulator(mode='gui')
scene = BuildingScene('Ohoopee')
s.import_scene(scene)
door = InteractiveObj(os.path.join(gibson2.assets_path, 'models',
'scene_components', 'realdoor.urdf'),
scale=0.3)
s.import_interactive_object(door)
x = p.addUserDebugParameter('x', -10, 10, 0)
y = p.addUserDebugParameter('y', -10, 10, 0)
z = p.addUserDebugParameter('z', -5, 5, 0)
rotate = p.addUserDebugParameter('rotate', -np.pi, np.pi, 0)
while True:
x_pos = p.readUserDebugParameter(x)
y_pos = p.readUserDebugParameter(y)
z_pos = p.readUserDebugParameter(z)
rotate_pos = p.readUserDebugParameter(rotate)
door.set_position_rotation([x_pos, y_pos, z_pos],
p.getQuaternionFromEuler([0, 0,
rotate_pos]))
s.step()
config = parse_config('../configs/jr_interactive_nav.yaml')
s = Simulator(mode='headless', timestep=1 / 240.0)
scene = EmptyScene()
s.import_scene(scene)
jr = JR2_Kinova(config)
s.import_robot(jr)
jr.robot_body.reset_position([0, 0, 0])
jr.robot_body.reset_orientation([0, 0, 1, 0])
fetch = Fetch(config)
s.import_robot(fetch)
fetch.robot_body.reset_position([0, 1, 0])
fetch.robot_body.reset_orientation([0, 0, 1, 0])
obj = InteractiveObj(
filename='/data4/mdv0/cabinet/0007/part_objs/cabinet_0007.urdf')
s.import_interactive_object(obj)
obj.set_position([-2, 0, 0.5])
obj = InteractiveObj(
filename='/data4/mdv0/cabinet/0007/part_objs/cabinet_0007.urdf')
s.import_interactive_object(obj)
obj.set_position([-2, 2, 0.5])
obj = InteractiveObj(
filename='/data4/mdv0/cabinet/0004/part_objs/cabinet_0004.urdf')
s.import_interactive_object(obj)
obj.set_position([-2.1, 1.6, 2])
obj = InteractiveObj(
filename='/data4/mdv0/cabinet/0004/part_objs/cabinet_0004.urdf')
s.import_interactive_object(obj)
obj.set_position([-2.1, 0.4, 2])
obj = BoxShape([-2.05, 1, 0.5], [0.35, 0.6, 0.5])
s.import_interactive_object(obj)
