示例#1
0
    def __init__(self,
                 table_full_size=(0.39, 0.49, 0.82),
                 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/bins_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.bin1_body = self.worldbody.find("./body[@name='bin1']")
        self.bin2_body = self.worldbody.find("./body[@name='bin2']")

        self.configure_location()
示例#2
0
    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()
示例#3
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 def __init__(self):
     super().__init__(xml_path_completion("objects/can-visual.xml"))
示例#4
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 def __init__(self):
     super().__init__(xml_path_completion("objects/bottle.xml"))
示例#5
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 def __init__(self):
     super().__init__(xml_path_completion("objects/round-nut.xml"))
示例#6
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 def __init__(self):
     super().__init__(xml_path_completion("objects/lemon.xml"))
示例#7
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 def __init__(self):
     super().__init__(xml_path_completion("objects/plate-with-hole.xml"))
示例#8
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 def __init__(self):
     super().__init__(xml_path_completion("grippers/robotiq_gripper.xml"))
示例#9
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    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']")
示例#10
0
文件： world.py 项目： xiaofei-w/spirl 
 def __init__(self):
     super().__init__(xml_path_completion("base.xml"))
示例#11
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 def __init__(self):
     super().__init__(xml_path_completion("grippers/left_two_finger_gripper.xml"))
示例#12
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    def __init__(self):
        super().__init__(xml_path_completion("robots/sawyer/robot.xml"))

        self.bottom_offset = np.array([0, 0, -0.913])
示例#13
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 def __init__(self):
     super().__init__(xml_path_completion("arenas/empty_arena.xml"))
     self.floor = self.worldbody.find("./geom[@name='floor']")