Added test script for gripper rotate.

hackathon_demo/test_stretch_gripper_rotate.py

@@ -0,0 +1,30 @@
+from pyrcareworld.envs import RCareWorld
+from pyrcareworld.attributes import sponge_attr
+import random
+
+# Script to test bed bathing in hackathon.
+if __name__ == "__main__":
+    # connect with the Unity environment
+    # Change the path to the Unity executable file
+    env = RCareWorld(
+        executable_file="@Editor"
+    )
+
+    # A collection of all force readings over all steps.
+    all_nonzero_forces = []
+
+    # Create a robot and a target object
+    # Control the robot arm
+    robot = env.create_robot(
+        id=123456, gripper_list=[123456], robot_name="stretch3", base_pos=[0, 0, 0]
+    )
+    # Control the robot base
+    robot_base = env.create_robot(id = 12346, robot_name = 'mobile_base', base_pos = [0, 0, 1])
+    # The red cuba in the environment
+    target = env.create_object(id=2333, name="Cube", is_in_scene=True)
+    # Move the robot to the target object
+    for i in range(10):
+        position = target.getPosition()
+        robot.BioIKMove(position)
+        robot.BioIKRotateQua([0,90,0])
+        env.step()