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 __init__(self,
config_file,
mode='headless',
action_timestep=1 / 10.0,
physics_timestep=1 / 240.0,
device_idx=0,
automatic_reset=False):
super(InteractiveNavigateEnv,
self).__init__(config_file,
mode=mode,
action_timestep=action_timestep,
physics_timestep=physics_timestep,
automatic_reset=automatic_reset,
device_idx=device_idx)
door = InteractiveObj(os.path.join(gibson2.assets_path, 'models',
'scene_components',
'realdoor.urdf'),
scale=1.35)
self.simulator.import_interactive_object(door)
wall1 = InteractiveObj(os.path.join(gibson2.assets_path, 'models',
'scene_components', 'walls.urdf'),
scale=1)
self.simulator.import_interactive_object(wall1)
wall1.set_position_rotation([0, -1.5, 1], [0, 0, 0, 1])
wall2 = InteractiveObj(os.path.join(gibson2.assets_path, 'models',
'scene_components', 'walls.urdf'),
scale=1)
self.simulator.import_interactive_object(wall2)
wall2.set_position_rotation([0, 1.5, 1], [0, 0, 0, 1])
door.set_position_rotation(
[0, 0, -0.02],
[0, 0, np.sqrt(0.5), np.sqrt(0.5)])
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()