test_debug

1 Basic Functions

  • Cycle through the functionalities of various debug modules.

2 Implementation Process

2.1 Initialize Environment

env = RFUniverseBaseEnv(scene_file="DebugScene.json")

  • Import the scene from a pre-configured DebugScene.json file.

2.2 Debug Functionality Demonstration

  • The debug functions mentioned below can accept a boolean variable named enable to toggle the corresponding debug feature on or off.

2.2.1 DebugGraspPoint

env.DebugGraspPoint()
env.SendLog("DebugGraspPoint")
env.step(300)
env.DebugGraspPoint(False)

  • DebugGraspPoint can show or hide the position and orientation information of the end-effector of the robotic arm.

2.2.2 DebugObjectID

env.DebugObjectID()
env.SendLog("DebugObjectID")
env.step(300)
env.DebugObjectID(False)

  • DebugObjectID can show or hide the ID information of all objects.

2.2.3 DebugObjectPose

env.DebugObjectPose()
env.SendLog("DebugObjectPose")
env.step(300)
env.DebugObjectPose(False)

  • DebugObjectPose can show or hide the base point coordinates, orientation, and scaling information of all objects.

2.2.4 DebugColliderBound

env.DebugColliderBound()
env.SendLog("DebugColliderBound")
env.step(300)
env.DebugColliderBound(False)

  • DebugColliderBound can show or hide the collision boxes of all objects.

2.2.5 DebugCollisionPair

env.DebugCollisionPair()
env.SendLog("DebugCollisionPair")
env.step(300)
env.DebugCollisionPair(False)

  • DebugCollisionPair can show or hide the collision pairs of all objects.

2.2.6 Debug3DBBox

env.Debug3DBBox()
env.SendLog("Debug3DBBox")
env.step(300)
env.Debug3DBBox(False)

  • Debug3DBBox can show or hide the 3D bounding boxes of all objects.

2.2.7 Debug2DBBox

env.Debug2DBBox()
env.SendLog("Debug2DBBox")
env.step(300000)
env.Debug2DBBox(False)

  • Debug2DBBox can show or hide the 2D bounding boxes of all objects.