Python pybullet.loadMJCF() Examples

The following are 11 code examples of pybullet.loadMJCF(). You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may also want to check out all available functions/classes of the module pybullet , or try the search function .
Example #1
Source File: gym_mujoco_xml_env.py    From bullet-gym with MIT License 6 votes vote down vote up 
def _reset(self):
		if self.scene is None:
			self.scene = self.create_single_player_scene()
		if not self.scene.multiplayer:
			self.scene.episode_restart()

		self.ordered_joints = []
		self.frame = 0
		self.done = 0
		self.reward = 0
		dump = 0

		if self.self_collision:
			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", self.model_xml), flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
		else:
			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", self.model_xml)))

		self.robot_specific_reset()
		s = self.calc_state()	# optimization: calc_state() can calculate something in self.* for calc_potential() to use
		self.potential = self.calc_potential()
		return s
Example #2
Source File: MJCFCommon.py    From bullet-gym with MIT License 6 votes vote down vote up 
def __init__(self, model_xml, robot_name, timestep, frame_skip, action_dim, obs_dim, repeats):
        self.action_space = gym.spaces.Box(-1.0, 1.0, shape=(action_dim,))
        float_max = np.finfo(np.float32).max
        
        # obs space for problem is (R, obs_dim)
        #  R = number of repeats
        #  obs_dim d tuple
        self.state_shape = (repeats, obs_dim)
        self.observation_space = gym.spaces.Box(-float_max, float_max, shape=self.state_shape)
        # no state until reset.
        self.state = np.empty(self.state_shape, dtype=np.float32)
        self.frame_skip = frame_skip
        self.timestep = timestep
        self.model_xml = model_xml
        self.parts, self.joints, = self.getScene(p.loadMJCF(model_xml))
        self.robot_name = robot_name
        self.dt = timestep * frame_skip
        self.metadata = {
            'render.modes': ['human', 'rgb_array'],
            'video.frames_per_second': int(np.round(1.0 / timestep / frame_skip))
            }
        self._seed()
Example #3
Source File: testMJCF.py    From soccer-matlab with BSD 2-Clause "Simplified" License 5 votes vote down vote up 
def test(args):	
	p.connect(p.GUI)
	p.setAdditionalSearchPath(pybullet_data.getDataPath())
	fileName = os.path.join("mjcf", args.mjcf)
	print("fileName")
	print(fileName)
	p.loadMJCF(fileName)
	while (1):
		p.stepSimulation()
		p.getCameraImage(320,240)
		time.sleep(0.01)
Example #4
Source File: robot_locomotors.py    From GtS with MIT License 5 votes vote down vote up 
def robot_specific_reset(self):
        WalkerBase.robot_specific_reset(self)
        
        humanoidId = -1
        numBodies = p.getNumBodies()
        for i in range (numBodies):
            bodyInfo = p.getBodyInfo(i)
            if bodyInfo[1].decode("ascii") == 'humanoid':
                humanoidId = i
        ## Spherical radiance/glass shield to protect the robot's camera
        if self.glass_id is None:
            glass_id = p.loadMJCF(os.path.join(self.physics_model_dir, "glass.xml"))[0]
            #print("setting up glass", glass_id, humanoidId)
            p.changeVisualShape(glass_id, -1, rgbaColor=[0, 0, 0, 0])
            cid = p.createConstraint(humanoidId, -1, glass_id,-1,p.JOINT_FIXED,[0,0,0],[0,0,1.4],[0,0,1])

        self.motor_names  = ["abdomen_z", "abdomen_y", "abdomen_x"]
        self.motor_power  = [100, 100, 100]
        self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
        self.motor_power += [100, 100, 300, 200]
        self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
        self.motor_power += [100, 100, 300, 200]
        self.motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
        self.motor_power += [75, 75, 75]
        self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
        self.motor_power += [75, 75, 75]
        self.motors = [self.jdict[n] for n in self.motor_names]
Example #5
Source File: robot_bases.py    From GtS with MIT License 5 votes vote down vote up 
def _load_model(self):
        if self.model_type == "MJCF":
            self.robot_ids = p.loadMJCF(os.path.join(self.physics_model_dir, self.model_file), flags=p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
        if self.model_type == "URDF":
            self.robot_ids = (p.loadURDF(os.path.join(self.physics_model_dir, self.model_file), globalScaling = self.scale), )
        self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.robot_ids)
Example #6
Source File: robot_locomotors.py    From midlevel-reps with MIT License 5 votes vote down vote up 
def robot_specific_reset(self):
        WalkerBase.robot_specific_reset(self)
        
        humanoidId = -1
        numBodies = p.getNumBodies()
        for i in range (numBodies):
            bodyInfo = p.getBodyInfo(i)
            if bodyInfo[1].decode("ascii") == 'humanoid':
                humanoidId = i
        ## Spherical radiance/glass shield to protect the robot's camera
        if self.glass_id is None:
            glass_id = p.loadMJCF(os.path.join(self.physics_model_dir, "glass.xml"))[0]
            #print("setting up glass", glass_id, humanoidId)
            p.changeVisualShape(glass_id, -1, rgbaColor=[0, 0, 0, 0])
            cid = p.createConstraint(humanoidId, -1, glass_id,-1,p.JOINT_FIXED,[0,0,0],[0,0,1.4],[0,0,1])

        self.motor_names  = ["abdomen_z", "abdomen_y", "abdomen_x"]
        self.motor_power  = [100, 100, 100]
        self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
        self.motor_power += [100, 100, 300, 200]
        self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
        self.motor_power += [100, 100, 300, 200]
        self.motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
        self.motor_power += [75, 75, 75]
        self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
        self.motor_power += [75, 75, 75]
        self.motors = [self.jdict[n] for n in self.motor_names]
Example #7
Source File: robot_bases.py    From midlevel-reps with MIT License 5 votes vote down vote up 
def _load_model(self):
        if self.model_type == "MJCF":
            self.robot_ids = p.loadMJCF(os.path.join(self.physics_model_dir, self.model_file), flags=p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
        if self.model_type == "URDF":
            self.robot_ids = (p.loadURDF(os.path.join(self.physics_model_dir, self.model_file), globalScaling = self.scale), )
        self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.robot_ids)
Example #8
Source File: scene_stadium.py    From midlevel-reps with MIT License 5 votes vote down vote up 
def __init__(self, robot, gravity, timestep, frame_skip, env=None):
        Scene.__init__(self, gravity, timestep, frame_skip, env)

        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:
            pos, orn = p.getBasePositionAndOrientation(i)
            p.resetBasePositionAndOrientation(i, [pos[0], pos[1], pos[2] - 0.005], orn)

        for i in self.ground_plane_mjcf:
            p.changeVisualShape(i, -1, rgbaColor=[1, 1, 1, 0.5])

        self.scene_obj_list = self.stadium
Example #9
Source File: scene_stadium.py    From bullet-gym with MIT License 5 votes vote down vote up 
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 = p.loadSDF(os.path.join(os.path.dirname(__file__), "other_assets", "stadium.sdf"))
		self.ground_plane_mjcf = p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", "ground_plane.xml"))
Example #10
Source File: simulation_manager.py    From qibullet with Apache License 2.0 5 votes vote down vote up 
def _spawnGroundPlane(self, physics_client):
        """
        INTERNAL METHOD, Loads a ground plane

        Parameters:
            physics_client - The id of the simulated instance in which the
            ground plane is supposed to be spawned
        """
        pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
        pybullet.loadMJCF(
            "mjcf/ground_plane.xml",
            physicsClientId=physics_client)
Example #11
Source File: scene_building.py    From midlevel-reps with MIT License 4 votes vote down vote up 
def __init__(self, robot, model_id, gravity, timestep, frame_skip, env = None):
        Scene.__init__(self, gravity, timestep, frame_skip, env)

        # 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(get_model_path(model_id), "mesh_z_up.obj")
        #filename = os.path.join(get_model_path(model_id), "3d", "blender.obj")
        #textureID = p.loadTexture(os.path.join(get_model_path(model_id), "3d", "rgb.mtl"))

        if robot.model_type == "MJCF":
            MJCF_SCALING = robot.mjcf_scaling
            scaling = [1.0/MJCF_SCALING, 1.0/MJCF_SCALING, 0.6/MJCF_SCALING]
        else:
            scaling  = [1, 1, 1]
        magnified = [2, 2, 2]

        collisionId = p.createCollisionShape(p.GEOM_MESH, fileName=filename, meshScale=scaling, flags=p.GEOM_FORCE_CONCAVE_TRIMESH)


        view_only_mesh = os.path.join(get_model_path(model_id), "mesh_view_only_z_up.obj")
        if os.path.exists(view_only_mesh):
            visualId = p.createVisualShape(p.GEOM_MESH,
                                       fileName=view_only_mesh,
                                       meshScale=scaling, flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
        else:
            visualId = -1

        boundaryUid = p.createMultiBody(baseCollisionShapeIndex = collisionId, baseVisualShapeIndex = visualId)
        p.changeDynamics(boundaryUid, -1, lateralFriction=1)
        #print(p.getDynamicsInfo(boundaryUid, -1))
        self.scene_obj_list = [(boundaryUid, -1)]       # baselink index -1
        

        planeName = os.path.join(pybullet_data.getDataPath(), "mjcf/ground_plane.xml")
        self.ground_plane_mjcf = p.loadMJCF(planeName)
        
        if "z_offset" in self.env.config:
            z_offset = self.env.config["z_offset"]
        else:
            z_offset = -10 #with hole filling, we don't need ground plane to be the same height as actual floors

        p.resetBasePositionAndOrientation(self.ground_plane_mjcf[0], posObj = [0,0,z_offset], ornObj = [0,0,0,1])
        p.changeVisualShape(boundaryUid, -1, rgbaColor=[168 / 255.0, 164 / 255.0, 92 / 255.0, 1.0],
                            specularColor=[0.5, 0.5, 0.5])