def main():
p.connect(p.GUI)
p.setGravity(0, 0, -9.8)
p.setTimeStep(1. / 240.)
scene = StadiumScene()
scene.load()
for _ in range(24000): # at least 100 seconds
p.stepSimulation()
time.sleep(1. / 240.)
p.disconnect()
def test_turtlebot():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
nbody = p.getNumBodies()
s.disconnect()
assert nbody == 5
def test_quadrotor():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
quadrotor = Quadrotor(config)
s.import_robot(quadrotor)
nbody = p.getNumBodies()
s.disconnect()
assert nbody == 5
def test_jr2():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
jr2 = JR2(config)
s.import_robot(jr2)
nbody = p.getNumBodies()
s.disconnect()
assert nbody == 5
def test_humanoid():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
humanoid = Humanoid(config)
s.import_robot(humanoid)
nbody = p.getNumBodies()
s.disconnect()
assert nbody == 5
def test_import_object():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
obj = YCBObject('003_cracker_box')
s.import_object(obj)
objs = s.objects
s.disconnect()
assert objs == list(range(5))
def test_import_stadium():
download_assets()
download_demo_data()
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
print(s.objects)
assert s.objects == list(range(4))
s.disconnect()
def test_fetch():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
fetch = Fetch(config)
s.import_robot(fetch)
for i in range(100):
fetch.calc_state()
s.step()
s.disconnect()
def test_humanoid_position():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
humanoid = Humanoid(config)
s.import_robot(humanoid)
humanoid.set_position([0, 0, 5])
nbody = p.getNumBodies()
pos = humanoid.get_position()
s.disconnect()
assert nbody == 5
assert np.allclose(pos, np.array([0, 0, 5]))
def test_ant():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
ant = Ant(config)
s.import_robot(ant)
ant2 = Ant(config)
s.import_robot(ant2)
ant2.set_position([0, 2, 2])
nbody = p.getNumBodies()
for i in range(100):
s.step()
s.disconnect()
assert nbody == 6
def test_import_many_object():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
for i in range(30):
obj = YCBObject('003_cracker_box')
s.import_object(obj)
for j in range(1000):
s.step()
last_obj = s.objects[-1]
s.disconnect()
assert (last_obj == 33)
def test_turtlebot_position():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
turtlebot.set_position([0, 0, 5])
nbody = p.getNumBodies()
pos = turtlebot.get_position()
s.disconnect()
assert nbody == 5
assert np.allclose(pos, np.array([0, 0, 5]))
def test_simulator():
download_assets()
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
obj = YCBObject('006_mustard_bottle')
for i in range(10):
s.import_object(obj)
obj = YCBObject('002_master_chef_can')
for i in range(10):
s.import_object(obj)
for i in range(1000):
s.step()
s.disconnect()
def show_action_sensor_space():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
turtlebot.set_position([0, 1, 0.5])
ant = Ant(config)
s.import_robot(ant)
ant.set_position([0, 2, 0.5])
h = Humanoid(config)
s.import_robot(h)
h.set_position([0, 3, 2])
jr = JR2(config)
s.import_robot(jr)
jr.set_position([0, 4, 0.5])
jr2 = JR2_Kinova(config)
s.import_robot(jr2)
jr2.set_position([0, 5, 0.5])
husky = Husky(config)
s.import_robot(husky)
husky.set_position([0, 6, 0.5])
quad = Quadrotor(config)
s.import_robot(quad)
quad.set_position([0, 7, 0.5])
for robot in s.robots:
print(type(robot), len(robot.ordered_joints), robot.calc_state().shape)
for i in range(100):
s.step()
s.disconnect()
def test_multiagent():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
turtlebot1 = Turtlebot(config)
turtlebot2 = Turtlebot(config)
turtlebot3 = Turtlebot(config)
s.import_robot(turtlebot1)
s.import_robot(turtlebot2)
s.import_robot(turtlebot3)
turtlebot1.set_position([1, 0, 0.5])
turtlebot2.set_position([0, 0, 0.5])
turtlebot3.set_position([-1, 0, 0.5])
nbody = p.getNumBodies()
for i in range(100):
s.step()
s.disconnect()
assert nbody == 7
def test_import_box():
s = Simulator(mode='headless')
scene = StadiumScene()
s.import_scene(scene)
print(s.objects)
# wall = [pos, dim]
wall = [[[0, 7, 1.01], [10, 0.2, 1]], [[0, -7, 1.01], [6.89, 0.1, 1]],
[[7, -1.5, 1.01], [0.1, 5.5, 1]], [[-7, -1, 1.01], [0.1, 6, 1]],
[[-8.55, 5, 1.01], [1.44, 0.1, 1]],
[[8.55, 4, 1.01], [1.44, 0.1, 1]]]
obstacles = [[[-0.5, 2, 1.01], [3.5, 0.1, 1]],
[[4.5, -1, 1.01], [1.5, 0.1, 1]], [[-4, -2, 1.01],
[0.1, 2, 1]],
[[2.5, -4, 1.01], [1.5, 0.1, 1]]]
for i in range(len(wall)):
curr = wall[i]
obj = Cube(curr[0], curr[1])
s.import_object(obj)
for i in range(len(obstacles)):
curr = obstacles[i]
obj = Cube(curr[0], curr[1])
s.import_object(obj)
config = parse_config(os.path.join(gibson2.root_path, '../test/test.yaml'))
turtlebot1 = Turtlebot(config)
turtlebot2 = Turtlebot(config)
s.import_robot(turtlebot1)
s.import_robot(turtlebot2)
turtlebot1.set_position([6., -6., 0.])
turtlebot2.set_position([-3., 4., 0.])
for i in range(100):
s.step()
s.disconnect()
def test_import_rbo_object():
s = Simulator(mode='headless')
try:
scene = StadiumScene()
s.import_scene(scene)
obj = RBOObject('book')
s.import_object(obj)
obj2 = RBOObject('microwave')
s.import_object(obj2)
obj.set_position([0, 0, 2])
obj2.set_position([0, 1, 2])
obj3 = ArticulatedObject(
os.path.join(gibson2.assets_path, 'models', 'scene_components',
'door.urdf'))
s.import_object(obj3)
for i in range(100):
s.step()
finally:
s.disconnect()
def load(self):
"""
Load the scene and robot
"""
if self.config['scene'] == 'empty':
scene = EmptyScene()
self.simulator.import_scene(scene,
load_texture=self.config.get(
'load_texture', True))
elif self.config['scene'] == 'stadium':
scene = StadiumScene()
self.simulator.import_scene(scene,
load_texture=self.config.get(
'load_texture', True))
elif self.config['scene'] == 'gibson':
scene = StaticIndoorScene(
self.config['scene_id'],
waypoint_resolution=self.config.get('waypoint_resolution',
0.2),
num_waypoints=self.config.get('num_waypoints', 10),
build_graph=self.config.get('build_graph', False),
trav_map_resolution=self.config.get('trav_map_resolution',
0.1),
trav_map_erosion=self.config.get('trav_map_erosion', 2),
pybullet_load_texture=self.config.get('pybullet_load_texture',
False),
)
self.simulator.import_scene(scene,
load_texture=self.config.get(
'load_texture', True))
elif self.config['scene'] == 'igibson':
scene = InteractiveIndoorScene(
self.config['scene_id'],
waypoint_resolution=self.config.get('waypoint_resolution',
0.2),
num_waypoints=self.config.get('num_waypoints', 10),
build_graph=self.config.get('build_graph', False),
trav_map_resolution=self.config.get('trav_map_resolution',
0.1),
trav_map_erosion=self.config.get('trav_map_erosion', 2),
trav_map_type=self.config.get('trav_map_type', 'with_obj'),
pybullet_load_texture=self.config.get('pybullet_load_texture',
False),
texture_randomization=self.texture_randomization_freq
is not None,
object_randomization=self.object_randomization_freq
is not None,
object_randomization_idx=self.object_randomization_idx,
should_open_all_doors=self.config.get('should_open_all_doors',
False),
load_object_categories=self.config.get(
'load_object_categories', None),
load_room_types=self.config.get('load_room_types', None),
load_room_instances=self.config.get('load_room_instances',
None),
)
# TODO: Unify the function import_scene and take out of the if-else clauses
first_n = self.config.get('_set_first_n_objects', -1)
if first_n != -1:
scene._set_first_n_objects(first_n)
self.simulator.import_ig_scene(scene)
if self.config['robot'] == 'Turtlebot':
robot = Turtlebot(self.config)
elif self.config['robot'] == 'Husky':
robot = Husky(self.config)
elif self.config['robot'] == 'Ant':
robot = Ant(self.config)
elif self.config['robot'] == 'Humanoid':
robot = Humanoid(self.config)
elif self.config['robot'] == 'JR2':
robot = JR2(self.config)
elif self.config['robot'] == 'JR2_Kinova':
robot = JR2_Kinova(self.config)
elif self.config['robot'] == 'Freight':
robot = Freight(self.config)
elif self.config['robot'] == 'Fetch':
robot = Fetch(self.config)
elif self.config['robot'] == 'Locobot':
robot = Locobot(self.config)
else:
raise Exception('unknown robot type: {}'.format(
self.config['robot']))
self.scene = scene
self.robots = [robot]
for robot in self.robots:
self.simulator.import_robot(robot)