Python pybullet.createMultiBody() Examples
The following are 16
code examples of pybullet.createMultiBody().
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Example #1
| Source File: bed_bathing.py From assistive-gym with MIT License | 6 votes |
|
def generate_targets(self):
self.target_indices_to_ignore = []
if self.gender == 'male':
self.upperarm, self.upperarm_length, self.upperarm_radius = 5, 0.279, 0.043
self.forearm, self.forearm_length, self.forearm_radius = 7, 0.257, 0.033
else:
self.upperarm, self.upperarm_length, self.upperarm_radius = 5, 0.264, 0.0355
self.forearm, self.forearm_length, self.forearm_radius = 7, 0.234, 0.027
self.targets_pos_on_upperarm = self.util.capsule_points(p1=np.array([0, 0, 0]), p2=np.array([0, 0, -self.upperarm_length]), radius=self.upperarm_radius, distance_between_points=0.03)
self.targets_pos_on_forearm = self.util.capsule_points(p1=np.array([0, 0, 0]), p2=np.array([0, 0, -self.forearm_length]), radius=self.forearm_radius, distance_between_points=0.03)
sphere_collision = -1
sphere_visual = p.createVisualShape(shapeType=p.GEOM_SPHERE, radius=0.01, rgbaColor=[0, 1, 1, 1], physicsClientId=self.id)
self.targets_upperarm = []
self.targets_forearm = []
for _ in range(len(self.targets_pos_on_upperarm)):
self.targets_upperarm.append(p.createMultiBody(baseMass=0.0, baseCollisionShapeIndex=sphere_collision, baseVisualShapeIndex=sphere_visual, basePosition=[0, 0, 0], useMaximalCoordinates=False, physicsClientId=self.id))
for _ in range(len(self.targets_pos_on_forearm)):
self.targets_forearm.append(p.createMultiBody(baseMass=0.0, baseCollisionShapeIndex=sphere_collision, baseVisualShapeIndex=sphere_visual, basePosition=[0, 0, 0], useMaximalCoordinates=False, physicsClientId=self.id))
self.total_target_count = len(self.targets_upperarm) + len(self.targets_forearm)
self.update_targets()
Example #2
| Source File: ant_env.py From midlevel-reps with MIT License | 6 votes |
|
def _flag_reposition(self):
self.walk_target_x = self.np_random.uniform(low=-self.scene.stadium_halflen,
high=+self.scene.stadium_halflen)
self.walk_target_y = self.np_random.uniform(low=-self.scene.stadium_halfwidth,
high=+self.scene.stadium_halfwidth)
more_compact = 0.5 # set to 1.0 whole football field
self.walk_target_x *= more_compact / self.robot.mjcf_scaling
self.walk_target_y *= more_compact / self.robot.mjcf_scaling
self.flag = None
#self.flag = self.scene.cpp_world.debug_sphere(self.walk_target_x, self.walk_target_y, 0.2, 0.2, 0xFF8080)
self.flag_timeout = 3000 / self.scene.frame_skip
#print('targetxy', self.flagid, self.walk_target_x, self.walk_target_y, p.getBasePositionAndOrientation(self.flagid))
#p.resetBasePositionAndOrientation(self.flagid, posObj = [self.walk_target_x, self.walk_target_y, 0.5], ornObj = [0,0,0,0])
if self.gui:
if self.lastid:
p.removeBody(self.lastid)
self.lastid = p.createMultiBody(baseVisualShapeIndex=self.visualid, baseCollisionShapeIndex=-1, basePosition=[self.walk_target_x, self.walk_target_y, 0.5])
self.robot.walk_target_x = self.walk_target_x
self.robot.walk_target_y = self.walk_target_y
Example #3
| Source File: renderer.py From mvp_grasp with BSD 3-Clause "New" or "Revised" License | 5 votes |
|
def load_mesh(self, mesh, scale=None, position=None, orientation=None, mass=1):
if scale is None:
scale = [1, 1, 1]
if position is None:
position = [0, 0, 0.1]
if orientation is None:
# Random orientation
r = np.random.rand()
orientation = [r ** 2, 0, 0, (1 - r) ** 2]
c_id = pb.createCollisionShape(shapeType=pb.GEOM_MESH, fileName=mesh, meshScale=scale)
o_id = pb.createMultiBody(baseMass=mass, baseCollisionShapeIndex=c_id, basePosition=position,
baseOrientation=orientation)
self.objects.append(o_id)
return o_id
Example #4
| Source File: drinking.py From assistive-gym with MIT License | 5 votes |
|
def display_cup_points(self):
sphere_collision = -1
sphere_visual = p.createVisualShape(shapeType=p.GEOM_SPHERE, radius=0.01, rgbaColor=[0, 1, 1, 1], physicsClientId=self.id)
cup_pos, cup_orient = p.getBasePositionAndOrientation(self.cup, physicsClientId=self.id)
cup_pos, cup_orient = p.multiplyTransforms(cup_pos, cup_orient, [0, 0.06, 0], p.getQuaternionFromEuler([np.pi/2.0, 0, 0], physicsClientId=self.id), physicsClientId=self.id)
top_center_pos, _ = p.multiplyTransforms(cup_pos, cup_orient, self.cup_top_center_offset, [0, 0, 0, 1], physicsClientId=self.id)
bottom_center_pos, _ = p.multiplyTransforms(cup_pos, cup_orient, self.cup_bottom_center_offset, [0, 0, 0, 1], physicsClientId=self.id)
self.cup_top_center = p.createMultiBody(baseMass=0.0, baseCollisionShapeIndex=sphere_collision, baseVisualShapeIndex=sphere_visual, basePosition=top_center_pos, useMaximalCoordinates=False, physicsClientId=self.id)
self.cup_bottom_center = p.createMultiBody(baseMass=0.0, baseCollisionShapeIndex=sphere_collision, baseVisualShapeIndex=sphere_visual, basePosition=bottom_center_pos, useMaximalCoordinates=False, physicsClientId=self.id)
cylinder_collision = -1
cylinder_visual = p.createVisualShape(shapeType=p.GEOM_CYLINDER, radius=0.05, length=0.14, rgbaColor=[0, 1, 1, 0.25], physicsClientId=self.id)
self.cup_cylinder = p.createMultiBody(baseMass=0.0, baseCollisionShapeIndex=cylinder_collision, baseVisualShapeIndex=cylinder_visual, basePosition=cup_pos, baseOrientation=cup_orient, useMaximalCoordinates=False, physicsClientId=self.id)
Example #5
| Source File: world_creation.py From assistive-gym with MIT License | 5 votes |
|
def init_tool(self, robot, mesh_scale=[1]*3, pos_offset=[0]*3, orient_offset=[0, 0, 0, 1], left=True, maximal=False, alpha=1.0):
if left:
gripper_pos, gripper_orient = p.getLinkState(robot, 76 if self.robot_type=='pr2' else 18 if self.robot_type=='sawyer' else 47 if self.robot_type=='baxter' else 8, computeForwardKinematics=True, physicsClientId=self.id)[:2]
else:
gripper_pos, gripper_orient = p.getLinkState(robot, 54 if self.robot_type=='pr2' else 18 if self.robot_type=='sawyer' else 25 if self.robot_type=='baxter' else 8, computeForwardKinematics=True, physicsClientId=self.id)[:2]
transform_pos, transform_orient = p.multiplyTransforms(positionA=gripper_pos, orientationA=gripper_orient, positionB=pos_offset, orientationB=orient_offset, physicsClientId=self.id)
if self.task == 'scratch_itch':
tool = p.loadURDF(os.path.join(self.directory, 'scratcher', 'tool_scratch.urdf'), basePosition=transform_pos, baseOrientation=transform_orient, physicsClientId=self.id)
elif self.task == 'bed_bathing':
tool = p.loadURDF(os.path.join(self.directory, 'bed_bathing', 'wiper.urdf'), basePosition=transform_pos, baseOrientation=transform_orient, physicsClientId=self.id)
elif self.task in ['drinking', 'scooping', 'feeding', 'arm_manipulation']:
if self.task == 'drinking':
visual_filename = os.path.join(self.directory, 'dinnerware', 'plastic_coffee_cup.obj')
collision_filename = os.path.join(self.directory, 'dinnerware', 'plastic_coffee_cup_vhacd.obj')
elif self.task in ['scooping', 'feeding']:
visual_filename = os.path.join(self.directory, 'dinnerware', 'spoon_reduced_compressed.obj')
collision_filename = os.path.join(self.directory, 'dinnerware', 'spoon_vhacd.obj')
elif self.task == 'arm_manipulation':
visual_filename = os.path.join(self.directory, 'arm_manipulation', 'arm_manipulation_scooper.obj')
collision_filename = os.path.join(self.directory, 'arm_manipulation', 'arm_manipulation_scooper_vhacd.obj')
tool_visual = p.createVisualShape(shapeType=p.GEOM_MESH, fileName=visual_filename, meshScale=mesh_scale, rgbaColor=[1, 1, 1, alpha], physicsClientId=self.id)
tool_collision = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName=collision_filename, meshScale=mesh_scale, physicsClientId=self.id)
tool = p.createMultiBody(baseMass=0.01, baseCollisionShapeIndex=tool_collision, baseVisualShapeIndex=tool_visual, basePosition=transform_pos, baseOrientation=transform_orient, useMaximalCoordinates=maximal, physicsClientId=self.id)
if left:
# Disable collisions between the tool and robot
for j in (range(71, 86) if self.robot_type == 'pr2' else [18, 20, 21, 22, 23] if self.robot_type == 'sawyer' else [47, 49, 50, 51, 52] if self.robot_type == 'baxter' else [7, 8, 9, 10, 11, 12, 13, 14]):
for tj in list(range(p.getNumJoints(tool, physicsClientId=self.id))) + [-1]:
p.setCollisionFilterPair(robot, tool, j, tj, False, physicsClientId=self.id)
# Create constraint that keeps the tool in the gripper
constraint = p.createConstraint(robot, 76 if self.robot_type=='pr2' else 18 if self.robot_type=='sawyer' else 47 if self.robot_type=='baxter' else 8, tool, -1, p.JOINT_FIXED, [0, 0, 0], parentFramePosition=pos_offset, childFramePosition=[0, 0, 0], parentFrameOrientation=orient_offset, physicsClientId=self.id)
else:
# Disable collisions between the tool and robot
for j in (range(49, 64) if self.robot_type == 'pr2' else [18, 20, 21, 22, 23] if self.robot_type == 'sawyer' else [25, 27, 28, 29, 30] if self.robot_type == 'baxter' else [7, 8, 9, 10, 11, 12, 13, 14]):
for tj in list(range(p.getNumJoints(tool, physicsClientId=self.id))) + [-1]:
p.setCollisionFilterPair(robot, tool, j, tj, False, physicsClientId=self.id)
# Create constraint that keeps the tool in the gripper
constraint = p.createConstraint(robot, 54 if self.robot_type=='pr2' else 18 if self.robot_type=='sawyer' else 25 if self.robot_type=='baxter' else 8, tool, -1, p.JOINT_FIXED, [0, 0, 0], parentFramePosition=pos_offset, childFramePosition=[0, 0, 0], parentFrameOrientation=orient_offset, physicsClientId=self.id)
p.changeConstraint(constraint, maxForce=500, physicsClientId=self.id)
return tool
Example #6
| Source File: scratch_itch.py From assistive-gym with MIT License | 5 votes |
|
def generate_target(self):
# Randomly select either upper arm or forearm for the target limb to scratch
if self.gender == 'male':
self.limb, length, radius = [[5, 0.279, 0.043], [7, 0.257, 0.033]][self.np_random.randint(2)]
else:
self.limb, length, radius = [[5, 0.264, 0.0355], [7, 0.234, 0.027]][self.np_random.randint(2)]
self.target_on_arm = self.util.point_on_capsule(p1=np.array([0, 0, 0]), p2=np.array([0, 0, -length]), radius=radius, theta_range=(0, np.pi*2))
arm_pos, arm_orient = p.getLinkState(self.human, self.limb, computeForwardKinematics=True, physicsClientId=self.id)[:2]
target_pos, target_orient = p.multiplyTransforms(arm_pos, arm_orient, self.target_on_arm, [0, 0, 0, 1], physicsClientId=self.id)
sphere_collision = -1
sphere_visual = p.createVisualShape(shapeType=p.GEOM_SPHERE, radius=0.01, rgbaColor=[0, 1, 1, 1], physicsClientId=self.id)
self.target = p.createMultiBody(baseMass=0.0, baseCollisionShapeIndex=sphere_collision, baseVisualShapeIndex=sphere_visual, basePosition=target_pos, useMaximalCoordinates=False, physicsClientId=self.id)
self.update_targets()
Example #7
| Source File: ant_env.py From midlevel-reps with MIT License | 5 votes |
|
def _flag_reposition(self):
walk_target_x = self.robot.get_position()[0] / self.robot.mjcf_scaling
walk_target_y = self.robot.get_position()[1] / self.robot.mjcf_scaling
self.flag = None
if self.gui and not self.config["display_ui"]:
self.visual_flagId = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.5, 0.5, 0.5], rgbaColor=[1, 0, 0, 0.7])
self.last_flagId = p.createMultiBody(baseVisualShapeIndex=self.visual_flagId, baseCollisionShapeIndex=-1, basePosition=[walk_target_x, walk_target_y, 0.5])
Example #8
| Source File: ant_env.py From midlevel-reps with MIT License | 5 votes |
|
def _flag_reposition(self):
walk_target_x = self.temp_target_x
walk_target_y = self.temp_target_y
walk_target_z = self.robot.get_target_position()[1]
self.robot.set_target_position([walk_target_x, walk_target_y, walk_target_z])
self.flag = None
if not self.gui:
return
if self.visual_flagId is None:
if self.config["display_ui"]:
self.visual_flagId = -1
else:
self.visual_flagId = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.5, 0.5, 0.5], rgbaColor=[1, 0, 0, 0.7])
self.last_flagId = p.createMultiBody(baseVisualShapeIndex=self.visual_flagId, baseCollisionShapeIndex=-1, basePosition=[walk_target_x / self.robot.mjcf_scaling, walk_target_y / self.robot.mjcf_scaling, walk_target_z / self.robot.mjcf_scaling])
'''
for i in range(len(ANT_SENSOR_RESULT)):
walk_target_x, walk_target_y, walk_target_z = ANT_SENSOR_RESULT[i]
visual_flagId = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.2, 0.2, 0.2], rgbaColor=[0.5, 0, 0, 0.7])
self.last_flagId = p.createMultiBody(baseVisualShapeIndex=visual_flagId, baseCollisionShapeIndex=-1, basePosition=[walk_target_x / self.robot.mjcf_scaling, walk_target_y / self.robot.mjcf_scaling, walk_target_z / self.robot.mjcf_scaling])
for i in range(len(ANT_DEPTH_RESULT)):
walk_target_x, walk_target_y, walk_target_z = ANT_DEPTH_RESULT[i]
visual_flagId = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.2, 0.2, 0.2], rgbaColor=[0, 0.5, 0, 0.7])
self.last_flagId = p.createMultiBody(baseVisualShapeIndex=visual_flagId, baseCollisionShapeIndex=-1, basePosition=[walk_target_x / self.robot.mjcf_scaling, walk_target_y / self.robot.mjcf_scaling, walk_target_z / self.robot.mjcf_scaling])
'''
else:
last_flagPos, last_flagOrn = p.getBasePositionAndOrientation(self.last_flagId)
p.resetBasePositionAndOrientation(self.last_flagId, [walk_target_x / self.robot.mjcf_scaling, walk_target_y / self.robot.mjcf_scaling, walk_target_z / self.robot.mjcf_scaling], last_flagOrn)
Example #9
| Source File: ant_env.py From midlevel-reps with MIT License | 5 votes |
|
def _flag_reposition(self):
#self.walk_target_x = self.np_random.uniform(low=-self.scene.stadium_halflen,
# high=+self.scene.stadium_halflen)
#self.walk_target_y = self.np_random.uniform(low=-self.scene.stadium_halfwidth,
# high=+self.scene.stadium_halfwidth)
force_x = self.np_random.uniform(-300,300)
force_y = self.np_random.uniform(-300, 300)
more_compact = 0.5 # set to 1.0 whole football field
#self.walk_target_x *= more_compact
#self.walk_target_y *= more_compact
startx, starty, _ = self.robot.get_position()
self.flag = None
self.flag_timeout = 3000 / self.scene.frame_skip
if self.lastid:
p.removeBody(self.lastid)
self.lastid = p.createMultiBody(baseMass = 1, baseVisualShapeIndex=self.visualid, baseCollisionShapeIndex=self.colisionid, basePosition=[startx, starty, 0.5])
p.applyExternalForce(self.lastid, -1, [force_x,force_y,50], [0,0,0], p.LINK_FRAME)
ball_xyz, _ = p.getBasePositionAndOrientation(self.lastid)
self.robot.walk_target_x = ball_xyz[0]
self.robot.walk_target_y = ball_xyz[1]
Example #10
| Source File: humanoid_env.py From midlevel-reps with MIT License | 5 votes |
|
def _flag_reposition(self):
walk_target_x, walk_target_y, _ = self.robot.get_target_position()
self.flag = None
if self.gui and not self.config["display_ui"]:
self.visual_flagId = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.5, 0.5, 0.5], rgbaColor=[1, 0, 0, 0])
self.last_flagId = p.createMultiBody(baseVisualShapeIndex=self.visual_flagId, baseCollisionShapeIndex=-1, basePosition=[walk_target_x, walk_target_y, 0.5])
Example #11
| Source File: husky_env.py From midlevel-reps with MIT License | 5 votes |
|
def _flag_reposition(self):
target_pos = self.robot.target_pos
self.flag = None
if self.gui and not self.config["display_ui"]:
self.visual_flagId = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.5, 0.5, 0.5], rgbaColor=[1, 0, 0, 0.7])
self.last_flagId = p.createMultiBody(baseVisualShapeIndex=self.visual_flagId, baseCollisionShapeIndex=-1, basePosition=[target_pos[0], target_pos[1], 0.5])
Example #12
| Source File: husky_env.py From midlevel-reps with MIT License | 5 votes |
|
def _flag_reposition(self):
#self.walk_target_x = self.np_random.uniform(low=-self.scene.stadium_halflen,
# high=+self.scene.stadium_halflen)
#self.walk_target_y = self.np_random.uniform(low=-self.scene.stadium_halfwidth,
# high=+self.scene.stadium_halfwidth)
force_x = self.np_random.uniform(-300,300)
force_y = self.np_random.uniform(-300, 300)
more_compact = 0.5 # set to 1.0 whole football field
#self.walk_target_x *= more_compact
#self.walk_target_y *= more_compact
startx, starty, _ = self.robot.get_position()
self.flag = None
#self.flag = self.scene.cpp_world.debug_sphere(self.walk_target_x, self.walk_target_y, 0.2, 0.2, 0xFF8080)
self.flag_timeout = 3000 / self.scene.frame_skip
#print('targetxy', self.flagid, self.walk_target_x, self.walk_target_y, p.getBasePositionAndOrientation(self.flagid))
#p.resetBasePositionAndOrientation(self.flagid, posObj = [self.walk_target_x, self.walk_target_y, 0.5], ornObj = [0,0,0,0])
if self.lastid:
p.removeBody(self.lastid)
self.lastid = p.createMultiBody(baseMass = 1, baseVisualShapeIndex=self.visualid, baseCollisionShapeIndex=self.colisionid, basePosition=[startx, starty, 0.5])
p.applyExternalForce(self.lastid, -1, [force_x,force_y,50], [0,0,0], p.LINK_FRAME)
ball_xyz, _ = p.getBasePositionAndOrientation(self.lastid)
self.robot.walk_target_x = ball_xyz[0]
self.robot.walk_target_y = ball_xyz[1]
Example #13
| Source File: husky_env.py From midlevel-reps with MIT License | 5 votes |
|
def __init__(self, config, gpu_count=0):
#assert(self.config["envname"] == self.__class__.__name__ or self.config["envname"] == "TestEnv")
self.config = self.parse_config(config)
SemanticRobotEnv.__init__(self, self.config, gpu_count,
scene_type="building",
tracking_camera=tracking_camera)
self.robot_introduce(Husky(self.config, env=self))
self.scene_introduce()
self.total_reward = 0
self.total_frame = 0
self.flag_timeout = 1
self.visualid = -1
self.lastid = None
self.gui = self.config["mode"] == "gui"
if self.gui:
self.visualid = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.2, 0.2, 0.2], rgbaColor=[1, 0, 0, 0.7])
self.colisionid = p.createCollisionShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.2, 0.2, 0.2])
self.lastid = None
self.obstacle_dist = 100
self.semantic_flagIds = []
debug_semantic = 1
if debug_semantic:
for i in range(self.semantic_pos.shape[0]):
pos = self.semantic_pos[i]
pos[2] += 0.2 # make flag slight above object
visualId = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.1, 0.1, 0.1], rgbaColor=[1, 0, 0, 0.7])
flagId = p.createMultiBody(baseVisualShapeIndex=visualId, baseCollisionShapeIndex=-1, basePosition=pos)
self.semantic_flagIds.append(flagId)
Example #14
| Source File: mobile_robots_env.py From midlevel-reps with MIT License | 5 votes |
|
def _flag_reposition(self):
target_pos = self.robot.target_pos
self.flag = None
if self.gui and not self.config["display_ui"]:
self.visual_flagId = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.5, 0.5, 0.5], rgbaColor=[1, 0, 0, 0.7])
self.last_flagId = p.createMultiBody(baseVisualShapeIndex=self.visual_flagId, baseCollisionShapeIndex=-1, basePosition=[target_pos[0], target_pos[1], 0.5])
Example #15
| Source File: mobile_robots_env.py From midlevel-reps with MIT License | 5 votes |
|
def _flag_reposition(self):
target_pos = self.robot.target_pos
self.flag = None
if self.gui and not self.config["display_ui"]:
self.visual_flagId = p.createVisualShape(p.GEOM_MESH,
fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'),
meshScale=[0.5, 0.5, 0.5], rgbaColor=[1, 0, 0, 0.7])
self.last_flagId = p.createMultiBody(baseVisualShapeIndex=self.visual_flagId, baseCollisionShapeIndex=-1,
basePosition=[target_pos[0], target_pos[1], 0.5])
Example #16
| Source File: scene_building.py From midlevel-reps with MIT License | 4 votes |
|
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])
