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 load(self): if self.config['scene'] == 'stadium': scene = StadiumScene() elif self.config['scene'] == 'building': scene = BuildingScene(self.config['model_id']) self.simulator.import_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) 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)
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 load(self): """ Load the scene and robot """ if self.config['scene'] == 'empty': scene = EmptyScene() elif self.config['scene'] == 'stadium': scene = StadiumScene() elif self.config['scene'] == 'building': scene = BuildingScene( self.config['model_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), is_interactive=self.config.get('is_interactive', False), pybullet_load_texture=self.config.get('pybullet_load_texture', False), ) self.simulator.import_scene(scene, load_texture=self.config.get( 'load_texture', True)) 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) elif self.config['robot'] == 'DexHandRobot': robot = DexHandRobot(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)
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 load(self): """ Load the scene and robot """ if self.config['scene'] == 'stadium': scene = StadiumScene() elif self.config['scene'] == 'building': scene = BuildingScene( self.config['model_id'], build_graph=self.config.get('build_graph', False), trav_map_erosion=self.config.get('trav_map_erosion', 2), should_load_replaced_objects=self.config.get( 'should_load_replaced_objects', False)) # scene: class_id = 0 # robot: class_id = 1 # objects: class_id > 1 self.simulator.import_scene(scene, load_texture=self.config.get( 'load_texture', True), class_id=0) 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) 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, class_id=1)