search

Healthcare-Robotics / assistive-gym

Assistive Gym, a physics-based simulation framework for physical human-robot interaction and robotic assistance.
MIT License
301 stars 73 forks source link

Import Custom 3D Objects #22

Closed gabriansa closed 2 years ago

gabriansa commented 2 years ago

Hello,

I was wondering if there is a way to import custom 3D objects. I created a simple table on Fusion 360 and exported it as .obj. I then used object2urdf to create the urdf file as well as the vhacd file however when I load this into the simulation it doesn't show up.

Any hints/ideas on how to do this? Thanks a lot

Zackory commented 2 years ago

You may want to check out these two examples for importing obj files into PyBullet: https://github.com/Healthcare-Robotics/assistive-gym/blob/main/assistive_gym/envs/agents/furniture.py#L18 https://github.com/Healthcare-Robotics/assistive-gym/blob/main/assistive_gym/envs/agents/tool.py#L32

JiahangWu commented 2 years ago

Hi, I tried to import a new type of robot. First I added the robot .urfd file in the corresponding path and initialized it. Then, I registered in the __init.py__. But it still shows error: Cannot load URDF file. Is there something I didn't notice? Do you have some ideas about this? Thanks!