Skip to content

fix update/step assumption that a robot has been added #11

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

fix update/step assumption that a robot has been added #11

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 4 additions & 2 deletions lfd/environment/simulation.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -195,11 +195,13 @@ def set_state(self, sim_state):
self.update()

def update(self):
self.bt_robot.UpdateBullet()
if self.robot:
self.bt_robot.UpdateBullet()
self._update_rave()

def step(self):
self.bt_robot.UpdateBullet()
if self.robot:
self.bt_robot.UpdateBullet()
self.bt_env.Step(.01, 200, .005)
self._update_rave()

Expand Down
17 changes: 9 additions & 8 deletions test/test_simulation.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,24 +35,25 @@ def setUp(self):
cyl_pos1 = np.r_[.6, -helix_radius, table_height + .35]

sim_objs = []
sim_objs.append(XmlSimulationObject("robots/pr2-beta-static.zae", dynamic=False))
sim_objs.append(BoxSimulationObject("table", [1, 0, table_height-.1], [.85, .85, .1], dynamic=False))
sim_objs.append(RopeSimulationObject("rope", init_rope_nodes, rope_params))
sim_objs.append(CylinderSimulationObject("cyl0", cyl_pos0, cyl_radius, cyl_height, dynamic=True))
sim_objs.append(CylinderSimulationObject("cyl1", cyl_pos1, cyl_radius, cyl_height, dynamic=True))

self.sim = DynamicSimulation()
self.sim.add_objects(sim_objs)
self.sim.robot.SetDOFValues([0.25], [self.sim.robot.GetJoint('torso_lift_joint').GetJointIndex()])
sim_util.reset_arms_to_side(self.sim)


# rotate cylinders by 90 deg
for i in range(2):
bt_cyl = self.sim.bt_env.GetObjectByName('cyl%d'%i)
T = openravepy.matrixFromAxisAngle(np.array([np.pi/2,0,0]))
T[:3,3] = bt_cyl.GetTransform()[:3,3]
bt_cyl.SetTransform(T) # SetTransform needs to be used in the Bullet object, not the openrave body
bt_cyl = self.sim.bt_env.GetObjectByName('cyl%d' % i)
T = openravepy.matrixFromAxisAngle(np.array([np.pi/2, 0, 0]))
T[:3,3] = bt_cyl.GetTransform()[:3, 3]
bt_cyl.SetTransform(T) # SetTransform needs to be used in the Bullet object, not the openrave body
self.sim.update()

self.sim.add_objects([XmlSimulationObject("robots/pr2-beta-static.zae", dynamic=False)])
self.sim.robot.SetDOFValues([0.25], [self.sim.robot.GetJoint('torso_lift_joint').GetJointIndex()])
sim_util.reset_arms_to_side(self.sim)

def test_reproducibility(self):
sim_state0 = self.sim.get_state()
Expand Down