def load_env(demo_info):
xml_filepath = demo_info['xml']
suffix = xml_filepath[xml_filepath.index('pusher'):]
prefix = XML_PATH + 'test2_ensure_woodtable_distractor_'
xml_filepath = str(prefix + suffix)
env = PusherEnv(**{'xml_file': xml_filepath, 'distractors': True})
return env
def _load_env(self, xml):
xml = xml[xml.rfind('pusher'):]
xml_file = 'sim_push_xmls/test2_ensure_woodtable_distractor_%s' % xml
xml_file = os.path.join(XML_FOLDER, xml_file)
env = PusherEnv(**{'xml_file': xml_file, 'distractors': True})
env.set_visibility(self.render)
env.render()
viewer = env.viewer
viewer.autoscale()
viewer.cam.trackbodyid = -1
viewer.cam.lookat[0] = 0.4
viewer.cam.lookat[1] = -0.1
viewer.cam.lookat[2] = 0.0
viewer.cam.distance = 0.75
viewer.cam.elevation = -50
viewer.cam.azimuth = -90
return env
def load_env(demo_info):
xml_path = demo_info['xml']
xml_filepath = 'sim_push_xmls/' + xml_path.split("/")[-1]
env = PusherEnv(**{'xml_file': xml_filepath, 'distractors': True})
return env