def __init__(self,
floor_full_size=(1., 1.),
floor_friction=(1, 0.005, 0.0001)):
"""
Args:
floor_full_size: full dimensions of the floor
friction: friction parameters of the floor
"""
super().__init__(xml_path_completion("arenas/floor_arena.xml"))
self.floor_full_size = np.array(
[floor_full_size[0], floor_full_size[1], 0.125])
self.floor_half_size = self.floor_full_size / 2
self.floor_friction = floor_friction
self.floor = self.worldbody.find("./geom[@name='floor']")
self.floor.set("size", array_to_string(self.floor_half_size))
self.floor.set("friction", array_to_string(self.floor_friction))
def __init__(self,
table_full_size=(0.8, 0.8, 0.8),
table_friction=(1, 0.005, 0.0001)):
"""
Args:
table_full_size: full dimensions of the table
friction: friction parameters of the table
"""
super().__init__(xml_path_completion("arenas/table_arena.xml"))
self.table_full_size = np.array(table_full_size)
self.table_half_size = self.table_full_size / 2
self.table_friction = table_friction
self.floor = self.worldbody.find("./geom[@name='floor']")
self.table_body = self.worldbody.find("./body[@name='table']")
self.table_collision = self.table_body.find(
"./geom[@name='table_collision']")
self.table_visual = self.table_body.find(
"./geom[@name='table_visual']")
self.table_top = self.table_body.find("./site[@name='table_top']")
self.configure_location()
def __init__(self):
super().__init__(xml_path_completion("grippers/robotiq_gripper.xml"))
def __init__(self):
super().__init__(xml_path_completion("base.xml"))
def __init__(self):
super().__init__(xml_path_completion("robots/baxter/robot.xml"))
self.bottom_offset = np.array([0, 0, -0.913])
self.left_hand = self.worldbody.find(".//body[@name='left_hand']")
def __init__(self):
super().__init__(
xml_path_completion("grippers/left_two_finger_gripper.xml"))
def __init__(self):
super().__init__(xml_path_completion("robots/cursor.xml"))
def __init__(self):
super().__init__(xml_path_completion("robots/sawyer/robot.xml"))
self.bottom_offset = np.array([0, 0, -0.913])