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 = BoxShape(curr[0], curr[1]) s.import_object(obj) for i in range(len(obstacles)): curr = obstacles[i] obj = BoxShape(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 main(): config = parse_config('../configs/jr2_reaching.yaml') s = Simulator(mode='gui', image_width=512, image_height=512) scene = StadiumScene() s.import_scene(scene) jr = JR2_Kinova(config) s.import_robot(jr) marker = VisualMarker(visual_shape=p.GEOM_SPHERE, rgba_color=[0, 0, 1, 0.3], radius=0.5) s.import_object(marker) marker.set_position([0, 4, 1]) for i in range(10000): with Profiler('Simulator step'): jr.apply_action([0, 0, 0, 0, 0, 0, 0]) s.step() rgb = s.renderer.render_robot_cameras(modes=('rgb')) 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): #turtlebot1.apply_action(1) #turtlebot2.apply_action(1) #turtlebot3.apply_action(1) s.step() s.disconnect() assert nbody == 7
def test_import_stadium(): s = Simulator(mode='headless') scene = StadiumScene() s.import_scene(scene) print(s.objects) assert s.objects == list(range(4)) s.disconnect()
def main(): config = parse_config('../configs/jr2_reaching.yaml') s = Simulator(mode='gui', image_width=512, image_height=512) #scene = BuildingScene('Rs', # build_graph=True, # pybullet_load_texture=True) scene = StadiumScene() s.import_scene(scene) jr = JR2_Kinova_Head(config) #turtlebot = Turtlebot(config) s.import_robot(jr) for _ in range(10): obj = YCBObject('003_cracker_box') s.import_object(obj) obj.set_position_orientation(np.random.uniform(low=0, high=2, size=3), [0, 0, 0, 1]) for i in range(10000): with Profiler('Simulator step'): jr.apply_action([0, 0, 0.1, 0.1, 0, 0, 0, 0, 0]) s.step() rgb = s.renderer.render_robot_cameras(modes=('rgb')) s.disconnect()
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_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_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_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_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 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 main(): p.connect(p.GUI) p.setGravity(0, 0, -9.8) p.setTimeStep(1. / 240.) #floor = os.path.join(pybullet_data.getDataPath(), "mjcf/ground_plane.xml") #p.loadMJCF(floor) scene = StadiumScene() scene.load() robots = [] #config = parse_config('../configs/fetch_p2p_nav.yaml') #fetch = Fetch(config) #robots.append(fetch) config = parse_config('../configs/jr_p2p_nav.yaml') jr = JR2_Kinova(config) robots.append(jr) #config = parse_config('../configs/locobot_p2p_nav.yaml') #locobot = Locobot(config) #robots.append(locobot) #config = parse_config('../configs/turtlebot_p2p_nav.yaml') #turtlebot = Turtlebot(config) #robots.append(turtlebot) positions = [[0, 0, 0] #[1, 0, 0], #[0, 1, 0], #[1, 1, 0] ] for robot, position in zip(robots, positions): robot.load() robot.set_position(position) robot.robot_specific_reset() robot.keep_still() for _ in range(2400): # keep still for 10 seconds p.stepSimulation() time.sleep(1. / 240.) for _ in range(2400): # move with small random actions for 10 seconds for robot, position in zip(robots, positions): action = np.random.uniform(-1, 1, robot.action_dim) #robot.apply_action(action) robot.apply_action([0, 0, 0, 0, 0, 0, 0]) p.stepSimulation() time.sleep(1. / 240.0) p.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_fetch(): s = Simulator(mode='headless') scene = StadiumScene() s.import_scene(scene) config = parse_config( os.path.join(gibson2.root_path, '../test/test_continuous.yaml')) fetch = Fetch(config) s.import_robot(fetch) for i in range(100): fetch.apply_action(np.array([0] * 2)) fetch.calc_state() s.step() s.disconnect()
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_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_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_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_import_human(): s = Simulator(mode='gui') scene = StadiumScene() s.import_scene(scene) obj = Pedestrian() s.import_object(obj) for j in range(100): s.step() obj.reset_position_orientation([j * 0.001, 0, 0], [0, 0, 0, 1]) last_obj = s.objects[-1] s.disconnect() assert (last_obj == 4)
def test_simulator(): 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 test_ant(): s = Simulator(mode='headless', timestep=1 / 40.0) 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() #ant.apply_action(np.random.randint(17)) #ant2.apply_action(np.random.randint(17)) s.disconnect() assert nbody == 6
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)
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_rbo_object(): s = Simulator(mode='headless') try: scene = StadiumScene() s.import_scene(scene) obj = RBOObject('book') s.import_articulated_object(obj) obj2 = RBOObject('microwave') s.import_articulated_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_articulated_object(obj3) for i in range(100): s.step() finally: s.disconnect()
poses_trans.append(np.ascontiguousarray(xyz2mat(pos))) #print(instance.pybullet_uuid, link_id, pos, orn) instance.poses_rot = poses_rot instance.poses_trans = poses_trans def isconnected(self): return p.getConnectionInfo(self.cid)['isConnected'] def disconnect(self): if self.isconnected(): p.disconnect(self.cid) self.renderer.release() if __name__ == '__main__': s = Simulator() 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) while s.isconnected(): s.step()