def load_scene_mesh(self):
"""
Load scene mesh
"""
filename = os.path.join(get_scene_path(self.scene_id),
"mesh_z_up_downsampled.obj")
if not os.path.isfile(filename):
filename = os.path.join(get_scene_path(self.scene_id),
"mesh_z_up.obj")
collision_id = p.createCollisionShape(
p.GEOM_MESH, fileName=filename, flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
if self.pybullet_load_texture:
visual_id = p.createVisualShape(p.GEOM_MESH, fileName=filename)
else:
visual_id = -1
self.mesh_body_id = p.createMultiBody(
baseCollisionShapeIndex=collision_id,
baseVisualShapeIndex=visual_id)
p.changeDynamics(self.mesh_body_id, -1, lateralFriction=1)
if self.pybullet_load_texture:
texture_filename = get_texture_file(filename)
if texture_filename is not None:
texture_id = p.loadTexture(texture_filename)
p.changeVisualShape(self.mesh_body_id,
-1,
textureUniqueId=texture_id)
def main():
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_model_path('Rs'), 'mesh_z_up.obj')
p.connect(p.GUI)
p.setGravity(0, 0, -9.8)
p.setTimeStep(1. / 240.)
# Load scenes
collision_id = p.createCollisionShape(p.GEOM_MESH,
fileName=model_path,
meshScale=1.0,
flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
visual_id = p.createVisualShape(p.GEOM_MESH,
fileName=model_path,
meshScale=1.0)
texture_filename = get_texture_file(model_path)
texture_id = p.loadTexture(texture_filename)
mesh_id = p.createMultiBody(baseCollisionShapeIndex=collision_id,
baseVisualShapeIndex=visual_id)
# Load robots
turtlebot_urdf = os.path.join(gibson2.assets_path,
'models/turtlebot/turtlebot.urdf')
robot_id = p.loadURDF(turtlebot_urdf,
flags=p.URDF_USE_MATERIAL_COLORS_FROM_MTL)
# Load objects
obj_visual_filename = os.path.join(
gibson2.assets_path,
'models/ycb/002_master_chef_can/textured_simple.obj')
obj_collision_filename = os.path.join(
gibson2.assets_path,
'models/ycb/002_master_chef_can/textured_simple_vhacd.obj')
collision_id = p.createCollisionShape(p.GEOM_MESH,
fileName=obj_collision_filename,
meshScale=1.0)
visual_id = p.createVisualShape(p.GEOM_MESH,
fileName=obj_visual_filename,
meshScale=1.0)
object_id = p.createMultiBody(baseCollisionShapeIndex=collision_id,
baseVisualShapeIndex=visual_id,
basePosition=[1.0, 0.0, 1.0],
baseMass=0.1)
for _ in range(10000):
p.stepSimulation()
p.disconnect()
def load_floor_planes(self):
if self.is_interactive:
for f in range(len(self.floors)):
# load the floor plane with the original floor texture for each floor
plane_name = os.path.join(get_model_path(self.model_id),
"plane_z_up_{}.obj".format(f))
collision_id = p.createCollisionShape(p.GEOM_MESH,
fileName=plane_name)
visual_id = p.createVisualShape(p.GEOM_MESH,
fileName=plane_name)
texture_filename = get_texture_file(plane_name)
if texture_filename is not None:
texture_id = p.loadTexture(texture_filename)
else:
texture_id = -1
floor_body_id = p.createMultiBody(
baseCollisionShapeIndex=collision_id,
baseVisualShapeIndex=visual_id)
if texture_id != -1:
p.changeVisualShape(floor_body_id,
-1,
textureUniqueId=texture_id)
floor_height = self.floors[f]
p.resetBasePositionAndOrientation(floor_body_id,
posObj=[0, 0, floor_height],
ornObj=[0, 0, 0, 1])
# Since both the floor plane and the scene mesh have mass 0 (static),
# PyBullet seems to have already disabled collision between them.
# Just to be safe, explicit disable collision between them.
p.setCollisionFilterPair(self.mesh_body_id,
floor_body_id,
-1,
-1,
enableCollision=0)
self.floor_body_ids.append(floor_body_id)
else:
# load the default floor plane (only once) and later reset it to different floor heiights
plane_name = os.path.join(pybullet_data.getDataPath(),
"mjcf/ground_plane.xml")
floor_body_id = p.loadMJCF(plane_name)[0]
p.resetBasePositionAndOrientation(floor_body_id,
posObj=[0, 0, 0],
ornObj=[0, 0, 0, 1])
p.setCollisionFilterPair(self.mesh_body_id,
floor_body_id,
-1,
-1,
enableCollision=0)
self.floor_body_ids.append(floor_body_id)