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_import_building_viewing():
download_assets()
download_demo_data()
config = parse_config(os.path.join(gibson2.root_path, '../test/test.yaml'))
s = Simulator(mode='headless')
scene = StaticIndoorScene('Rs')
s.import_scene(scene)
assert s.objects == list(range(2))
turtlebot1 = Turtlebot(config)
turtlebot2 = Turtlebot(config)
turtlebot3 = Turtlebot(config)
s.import_robot(turtlebot1)
s.import_robot(turtlebot2)
s.import_robot(turtlebot3)
turtlebot1.set_position([0.5, 0, 0.5])
turtlebot2.set_position([0, 0, 0.5])
turtlebot3.set_position([-0.5, 0, 0.5])
for i in range(10):
s.step()
#turtlebot1.apply_action(np.random.randint(4))
#turtlebot2.apply_action(np.random.randint(4))
#turtlebot3.apply_action(np.random.randint(4))
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_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_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