def episode_restart(self):
Scene.episode_restart(self)
if self.score_right + self.score_left > 0:
sys.stdout.write("%i:%i " % (self.score_left, self.score_right))
sys.stdout.flush()
self.mjcf = self.cpp_world.load_mjcf(os.path.join(os.path.dirname(__file__), "models_robot/roboschool_pong.xml"))
dump = 0
for r in self.mjcf:
if dump: print("ROBOT '%s'" % r.root_part.name)
for part in r.parts:
if dump: print("\tPART '%s'" % part.name)
#if part.name==self.robot_name:
for j in r.joints:
if j.name=="p0x": self.p0x = j
if j.name=="p0y": self.p0y = j
if j.name=="p1x": self.p1x = j
if j.name=="p1y": self.p1y = j
if j.name=="ballx": self.ballx = j
if j.name=="bally": self.bally = j
self.ballx.set_motor_torque(0.0)
self.bally.set_motor_torque(0.0)
for r in self.mjcf:
r.query_position()
fpose = cpp_household.Pose()
fpose.set_xyz(0,0,-0.04)
self.field = self.cpp_world.load_thingy(
os.path.join(os.path.dirname(__file__), "models_outdoor/stadium/pong1.obj"),
fpose, 1.0, 0, 0xFFFFFF, True)
self.camera = self.cpp_world.new_camera_free_float(self.VIDEO_W, self.VIDEO_H, "video_camera")
self.camera_itertia = 0
self.frame = 0
self.jstate_for_frame = -1
self.score_left = 0
self.score_right = 0
self.restart_from_center(self.players_count==1 or self.np_random.randint(2)==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
self.stadium = self.cpp_world.load_thingy(
os.path.join(os.path.dirname(__file__), "models_outdoor/stadium/stadium1.obj"),
stadium_pose, 1.0, 0, 0xFFFFFF, True)
self.ground_plane_mjcf = self.cpp_world.load_mjcf(os.path.join(os.path.dirname(__file__), "mujoco_assets/ground_plane.xml"))
def episode_restart(self):
Scene.episode_restart(self) # contains cpp_world.clean_everything()
lab_ground_pose = cpp_household.Pose()
lab_ground_pose.set_xyz(0, 0, 1)
lab_ground_pose.set_rpy(np.pi / 2, 0, 0)
# if self.zero_at_running_strip_start_line:
# lab_pose.set_xyz(0, 0, 0) # see RUN_STARTLINE, RUN_RAD constants
# scale seems not working
self.lab_ground = self.cpp_world.load_thingy(
os.path.join(os.path.dirname(__file__), "models_indoor/floor.obj"),
lab_ground_pose, 1.0, 0, 0xFFFFFF, True)
table_pose = cpp_household.Pose()
table_pose.set_rpy(0, 0, np.pi / 2)
table_pose.set_xyz(0.7, 0, 0.75)
self.table = self.cpp_world.load_urdf(
os.path.join(os.path.dirname(__file__),
"models_indoor/lab/bordered_table.urdf"), table_pose,
False, False)
slope_pose = cpp_household.Pose()
slope_pose.set_rpy(0, 0, np.pi / 2)
slope_pose.set_xyz(0.6, -0.4, 0.8)
self.slope = self.cpp_world.load_urdf(
os.path.join(os.path.dirname(__file__),
"models_indoor/lab/slope.urdf"), slope_pose, False,
False)
ball_pose = cpp_household.Pose()
ball_pose.set_xyz(0.6, -0.4, 0.88)
self.ball = self.cpp_world.load_urdf(
os.path.join(os.path.dirname(__file__),
"models_indoor/lab/ball.urdf"), ball_pose, False,
False)
self.ball_home_pose = ball_pose
self.ball_r = 0.025
frame_pose = cpp_household.Pose()
frame_pose.set_xyz(.95, 0.4, 0.88)
frame_pose.set_rpy(0, 0, np.pi / 2)
self.frame = self.cpp_world.load_urdf(
os.path.join(os.path.dirname(__file__),
"models_indoor/lab/frame.urdf"), frame_pose, False,
False)
self.frame_home_pose = frame_pose
self.frame_width = 0.14
self.frame_height = 0.07
self.ground_plane_mjcf = self.cpp_world.load_mjcf(
os.path.join(os.path.dirname(__file__),
"mujoco_assets/ground_plane.xml"))
def episode_restart(self):
Scene.episode_restart(self)
stadium_pose = cpp_household.Pose()
if self.zero_at_running_strip_start_line:
stadium_pose.set_xyz(27, 21, 0)
if self.render:
if self.inclined:
self.hfield = self.cpp_world.load_thingy(
'assets/incline_grass.obj', stadium_pose, 1.0, 0, 0xFFFFFF,
True)
else:
self.stadium = self.cpp_world.load_thingy(
os.path.join(os.path.dirname(roboschool.__file__),
"models_outdoor/stadium/stadium1.obj"),
stadium_pose, 1.0, 0, 0xFFFFFF, True)
if self.inclined:
self.ground_plane_mjcf = self.cpp_world.load_mjcf(
"assets/incline_plane.mjcf")
else:
self.ground_plane_mjcf = self.cpp_world.load_mjcf(
"assets/level_plane.mjcf")
