def __init__(self, robot, gravity, timestep, frame_skip, env=None):
Scene.__init__(self, gravity, timestep, frame_skip, env)
filename = os.path.join(pybullet_data.getDataPath(),
"stadium_no_collision.sdf")
self.stadium = p.loadSDF(filename)
planeName = os.path.join(pybullet_data.getDataPath(),
"mjcf/ground_plane.xml")
self.ground_plane_mjcf = p.loadMJCF(planeName)
for i in self.ground_plane_mjcf:
p.changeVisualShape(i, -1, rgbaColor=[0, 0, 0, 0])
self.scene_obj_list = self.stadium
def __init__(self, robot, gravity, timestep, frame_skip, env=None):
Scene.__init__(self, gravity, timestep, frame_skip, env)
filename = os.path.join(pybullet_data.getDataPath(),
"stadium_no_collision.sdf")
self.stadium = p.loadSDF(filename)
planeName = os.path.join(pybullet_data.getDataPath(),
"mjcf/ground_plane.xml")
self.ground_plane_mjcf = p.loadMJCF(planeName)
for i in self.ground_plane_mjcf:
pos, orn = p.getBasePositionAndOrientation(i)
p.resetBasePositionAndOrientation(i,
[pos[0], pos[1], pos[2] - 0.005],
orn)
for i in self.ground_plane_mjcf:
p.changeVisualShape(i, -1, rgbaColor=[1, 1, 1, 0.5])
self.scene_obj_list = self.stadium
def __init__(self, robot, model_id, gravity, timestep, frame_skip, env = None):
Scene.__init__(self, gravity, timestep, frame_skip, env)
# contains cpp_world.clean_everything()
# stadium_pose = cpp_household.Pose()
# if self.zero_at_running_strip_start_line:
# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
filename = os.path.join(get_model_path(model_id), "mesh_z_up.obj")
#filename = os.path.join(get_model_path(model_id), "3d", "blender.obj")
#textureID = p.loadTexture(os.path.join(get_model_path(model_id), "3d", "rgb.mtl"))
if robot.model_type == "MJCF":
MJCF_SCALING = robot.mjcf_scaling
scaling = [1.0/MJCF_SCALING, 1.0/MJCF_SCALING, 0.6/MJCF_SCALING]
else:
scaling = [1, 1, 1]
magnified = [2, 2, 2]
collisionId = p.createCollisionShape(p.GEOM_MESH, fileName=filename, meshScale=scaling, flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
textureID = -1
boundaryUid = p.createMultiBody(baseCollisionShapeIndex = collisionId, baseVisualShapeIndex = textureID)
p.changeDynamics(boundaryUid, -1, lateralFriction=1)
#print(p.getDynamicsInfo(boundaryUid, -1))
self.scene_obj_list = [(boundaryUid, -1)] # baselink index -1
planeName = os.path.join(pybullet_data.getDataPath(), "mjcf/ground_plane.xml")
self.ground_plane_mjcf = p.loadMJCF(planeName)
if "z_offset" in self.env.config:
z_offset = self.env.config["z_offset"]
else:
z_offset = -0.5
p.resetBasePositionAndOrientation(self.ground_plane_mjcf[0], posObj = [0,0,z_offset], ornObj = [0,0,0,1])
p.changeVisualShape(boundaryUid, -1, rgbaColor=[168 / 255.0, 164 / 255.0, 92 / 255.0, 1.0],
specularColor=[0.5, 0.5, 0.5])
def episode_restart(self):
Scene.episode_restart(self)
def episode_restart(self):
Scene.episode_restart(self) # contains cpp_world.clean_everything()