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StanfordVL / iGibson

A Simulation Environment to train Robots in Large Realistic Interactive Scenes
http://svl.stanford.edu/igibson
MIT License
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simulate pedestrians in igibson2.1.0 #247

Open Gengshucheng opened 1 year ago

Gengshucheng commented 1 year ago

For simulating pedestrians with ORCA, I refer to this file: https://github.com/StanfordVL/iGibson/blob/cvpr21_challenge/gibson2/tasks/social_nav_random_task.py. but the simulator became very slow: self.simulator_step()

Screenshot from 2022-11-04 16-02-53

and some attribute in cvpr21_challenge is not available in new version of igibson. Is there any demo of social_nav_random_task available in new version?

Gengshucheng commented 1 year ago

and when I try to use the above SocialNavRandomTask to test the env_int_example.py, I get the error:

Process finished with exit code 139 (interrupted by signal 11: SIGSEGV)

Gengshucheng commented 1 year ago

while, I have solve all the above problems by debugging. there is still one problem in the social_nav_random_task when load_obstacles: yaw = obj.bbox_orientation_rpy[2] rot_mat = np.array([ [np.cos(-yaw), -np.sin(-yaw)], [np.sin(-yaw), np.cos(-yaw)], ]) initial_bbox = initial_bbox.dot(rot_mat) initial_bbox = initial_bbox + obj.bbox_pos[:2] it seems that the obj has no attribute of bbox_orientation_rpy and bbox_pos which means the orientation and position of the bounding box.