Objects¶
Overview¶
We provide a wide variety of Objects that can be imported into the Simulator.
YCBObjectRBOObjectShapeNetObjectPedestrianInteractiveObjSoftObjectBoxShapeVisualMarker
Typically, they take in the name or the path of an object (in gibson2.assets_path) and provide a load function that be invoked externally (usually by import_object and import_articulated_object of Simulator). The load function imports the object into PyBullet. Some Objects (e.g. InteractiveObj) also provide APIs to get and set the object pose.
Most of the code can be found here: gibson2/core/physics/interactive_objects.py.
Examples¶
In this example, we import three objects into PyBullet, two of which are articulated objects. The code can be found here: examples/demo/object_example.py.
from gibson2.core.physics.interactive_objects import InteractiveObj, YCBObject
import gibson2
import os
import pybullet as p
import time
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)
cabinet_0007 = os.path.join(gibson2.assets_path, 'models/cabinet2/cabinet_0007.urdf')
cabinet_0004 = os.path.join(gibson2.assets_path, 'models/cabinet/cabinet_0004.urdf')
obj1 = InteractiveObj(filename=cabinet_0007)
obj1.load()
obj1.set_position([0,0,0.5])
obj2 = InteractiveObj(filename=cabinet_0004)
obj2.load()
obj2.set_position([0,0,2])
obj3 = YCBObject('003_cracker_box')
obj3.load()
p.resetBasePositionAndOrientation(obj3.body_id, [0,0,1.2], [0,0,0,1])
for _ in range(24000): # at least 100 seconds
p.stepSimulation()
time.sleep(1./240.)
p.disconnect()
if __name__ == '__main__':
main()
You can open the cabinet and the drawer by dragging your mouse over them. You can even put the cereal box into the drawer like this:
