def episode_restart(self, bullet_client):
self._p = bullet_client
Scene.episode_restart(
self, bullet_client) # contains cpp_world.clean_everything()
if (self.stadiumLoaded == 0):
self.stadiumLoaded = 1
# 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(pybullet_data.getDataPath(),
"plane_stadium.sdf")
self.ground_plane_mjcf = self._p.loadSDF(filename)
#filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
#self.ground_plane_mjcf = self._p.loadSDF(filename)
#
for i in self.ground_plane_mjcf:
self._p.changeDynamics(i,
-1,
lateralFriction=0.8,
restitution=0.5)
self._p.changeVisualShape(i, -1, rgbaColor=[1, 1, 1, 0.8])
self._p.configureDebugVisualizer(
pybullet.COV_ENABLE_PLANAR_REFLECTION, 1)
def episode_restart(self, bullet_client):
self._p = bullet_client
Scene.episode_restart(
self, bullet_client) # contains cpp_world.clean_everything()
if self.stadiumLoaded == 0:
self.stadiumLoaded = 1
# stadium_pose = cpp_household.Pose()
# if self.zero_at_running_strip_start_line:([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in self.foot_ground_object_names])
# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
filename = os.path.join(pybullet_data.getDataPath(),
"plane_stadium.sdf")
self.ground_plane_mjcf = self._p.loadSDF(filename)
'''
filename = os.path.expanduser("~/data/mar-saba-monastery-rawscan/source/MarSaba/MarSaba.obj")
collisionShapeId = self._p.createCollisionShape(pybullet.GEOM_MESH, fileName=filename,
flags=pybullet.GEOM_FORCE_CONCAVE_TRIMESH)
visualShapeIds = self._p.createVisualShape(pybullet.GEOM_MESH, fileName=filename)
orn = self._p.getQuaternionFromEuler([math.pi / 2, 0, 0])
self.ground_plane_mjcf = [self._p.createMultiBody(0, baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex=visualShapeIds, baseOrientation=orn)]
startHeight = 0
linearDamping = 0.1
'''
for i in self.ground_plane_mjcf:
self._p.changeDynamics(i,
-1,
lateralFriction=0.8,
restitution=0.5)
def episode_restart(self, bullet_client):
self._p = bullet_client
Scene.episode_restart(
self, bullet_client) # contains cpp_world.clean_everything()
if (self.stadiumLoaded == 0):
self.stadiumLoaded = 1
# Add stadium floor
filename = os.path.join(os.path.dirname(__file__),
"assets/plane_normal.sdf")
self.ground_plane_mjcf = self._p.loadSDF(filename)
self._p.changeDynamics(0,
-1,
lateralFriction=.8,
restitution=0.5,
rollingFriction=0.005)
# self._p.changeVisualShape(i, -1, rgbaColor=[1, 1, 1, 1])
# self._p.configureDebugVisualizer(pybullet.COV_ENABLE_PLANAR_REFLECTION,i)
# Add ball
filename = os.path.join(os.path.dirname(__file__),
"assets/ball_blue.urdf")
ball_body = self._p.loadURDF(filename, self.ball_pos)
self._p.changeDynamics(ball_body, -1, restitution=1,
mass=5.) #,rollingFriction=0.001)
# Add Obstacle to scene
# self.obstacle = get_cube(self._p, 3.25, 0, 0.25)
self.ground_plane_mjcf += (ball_body, )
def episode_restart(self, bullet_client):
self._p = bullet_client
Scene.episode_restart(
self, bullet_client
) # contains cpp_world.clean_everything()
# Generate tinggi floor
for j in range(int(self.numHeightfieldColumns / 2)):
for i in range(int(self.numHeightfieldRows / 2)):
height = random.uniform(0, 0.05) * 10
self.heightfieldData[2 * i + 2 * j * self.numHeightfieldRows] = height
self.heightfieldData[2 * i + 1 + 2 * j * self.numHeightfieldRows] = height
self.heightfieldData[2 * i + (2 * j + 1) * self.numHeightfieldRows] = height
self.heightfieldData[
2 * i + 1 + (2 * j + 1) * self.numHeightfieldRows
] = height
baseHeight = 0
for j in [63, 64]:
for i in [63, 64]:
self.heightfieldData[2 * i + 2 * j * self.numHeightfieldRows] = baseHeight
self.heightfieldData[2 * i + 1 + 2 * j * self.numHeightfieldRows] = baseHeight
self.heightfieldData[2 * i + (2 * j + 1) * self.numHeightfieldRows] = baseHeight
self.heightfieldData[
2 * i + 1 + (2 * j + 1) * self.numHeightfieldRows
] = baseHeight
self.terrainShape = self._p.createCollisionShape(
shapeType=pybullet.GEOM_HEIGHTFIELD,
meshScale=[1, 1, 1],
heightfieldTextureScaling=256,
heightfieldData=self.heightfieldData,
numHeightfieldRows=self.numHeightfieldRows,
numHeightfieldColumns=self.numHeightfieldColumns,
replaceHeightfieldIndex = self.terrainShape
)
if not self.sceneLoaded:
self.sceneLoaded = True
self.terrain = self._p.createMultiBody(0, self.terrainShape)
self._p.resetBasePositionAndOrientation(
self.terrain, [0, 0, 0.25], [0, 0, 0, 1]
)
# terrainShape = self._p.createCollisionShape(shapeType = pybullet.GEOM_HEIGHTFIELD, meshScale=[.1,.1,24],fileName = "./wm_height_out.png")
# textureId = self._p.loadTexture("./gimp_overlay_out.png")
# self.terrain = self._p.createMultiBody(0, terrainShape)
# self._p.changeVisualShape(self.terrain, -1, textureUniqueId = textureId)
self._p.changeVisualShape(self.terrain, -1, rgbaColor=[1, 1, 1, 0.8])
self._p.changeDynamics(
self.terrain, -1, lateralFriction=0.8, restitution=0.5
)
self._p.configureDebugVisualizer(
pybullet.COV_ENABLE_PLANAR_REFLECTION, self.terrain
)
def episode_restart(self): Scene.episode_restart(self) # 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(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])
def episode_restart(self):
Scene.episode_restart(self) # 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(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])
def episode_restart(self): Scene.episode_restart(self) # contains cpp_world.clean_everything() if (self.stadiumLoaded==0): self.stadiumLoaded=1 # 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(pybullet_data.getDataPath(),"stadium_no_collision.sdf") self.ground_plane_mjcf = p.loadSDF(filename) for i in self.ground_plane_mjcf: p.changeDynamics(i,-1,lateralFriction=0.8, restitution=0.5) for j in range(p.getNumJoints(i)): p.changeDynamics(i,j,lateralFriction=0)
def episode_restart(self, bullet_client):
self._p = bullet_client
Scene.episode_restart(self, bullet_client) # contains cpp_world.clean_everything()
if (self.stadiumLoaded == 0):
self.stadiumLoaded = 1
# 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(pybullet_data.getDataPath(), "plane_stadium.sdf")
self.ground_plane_mjcf = self._p.loadSDF(filename)
#filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
#self.ground_plane_mjcf = self._p.loadSDF(filename)
#
for i in self.ground_plane_mjcf:
self._p.changeDynamics(i, -1, lateralFriction=0.8, restitution=0.5)
self._p.changeVisualShape(i, -1, rgbaColor=[1, 1, 1, 0.8])
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_PLANAR_REFLECTION, 1)
def episode_restart(self, bullet_client):
self._p = bullet_client
Scene.episode_restart(self, bullet_client)
if not self.loaded:
self.loaded = True
self.ground_plane_mjcf += [
self._p.loadURDF(join(assets_dir, 'plane.xml'),
(0 + self.center[0], 0 + self.center[1], 0))
]
self.ground_plane_mjcf += [
self._p.loadURDF(
join(assets_dir, 'wall.xml'),
(self.center[0], self.size[1] / 2 + self.center[1], 2.5))
]
self.ground_plane_mjcf += [
self._p.loadURDF(
join(assets_dir, 'wall.xml'),
(self.center[0], -self.size[1] / 2 + self.center[1], 2.5))
]
self.ground_plane_mjcf += [
self._p.loadURDF(
join(assets_dir, 'wall.xml'),
(self.size[0] / 2 + self.center[0], 0 + self.center[1],
2.5), pybullet.getQuaternionFromEuler((0, 0, np.pi / 2)))
]
self.ground_plane_mjcf += [
self._p.loadURDF(
join(assets_dir, 'wall.xml'),
(-self.size[0] / 2 + self.center[0], 0 + self.center[1],
2.5), pybullet.getQuaternionFromEuler((0, 0, np.pi / 2)))
]
for i in self.ground_plane_mjcf:
self._p.changeDynamics(i,
-1,
lateralFriction=0.8,
restitution=0.5)
self._p.configureDebugVisualizer(
pybullet.COV_ENABLE_PLANAR_REFLECTION, i)