test_load_mesh

1 Basic Functionality

Import obj model files as rigid bodies
Effect: Import obj model files and duplicate 100 rigid bodies, while simulating the free fall of rigid bodies

2 Implementation Process

2.1 Initialize the Environment

import random
import os
from pyrfuniverse.envs.base_env import RFUniverseBaseEnv

env = RFUniverseBaseEnv()
env.step()

env.step() allows the environment to run for a time $\delta t$, where $\delta t$ represents the concept of a “time slice”.

2.2 Load the Rigid Body and Set Actions

mesh = env.LoadMesh(id=639787, path=os.path.abspath('../Mesh/002_master_chef_can/google_16k/textured.obj'))
mesh.SetTransform(position=[0, 1, 0], rotation=[random.random() * 360, random.random() * 360, random.random() * 360])

id=639787: Each object in the scene needs a unique id
LoadMesh loads the rigid body corresponding to the .obj file
SetTransform sets actions, in this test file, it is the free fall from position $[0,1,0]$

2.3 Repeat the Simulation of Rigid Body Falling

for i in range(100):
    env.step(20)
    new_mesh = mesh.Copy(new_id=mesh.id + i + 1)
    new_mesh.SetTransform(position=[0, 1, 0], rotation=[random.random() * 360, random.random() * 360, random.random() * 360])

while 1:
    env.step()

Wait for 20 time slices env.step(20) to complete the motion of the object and stabilize it
Duplicate the rigid body and repeat the action