Python pybullet.loadMJCF方法代码示例

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import loadMJCF [as 别名]
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 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import loadMJCF [as 别名]
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() 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import loadMJCF [as 别名]
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) 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import loadMJCF [as 别名]
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] 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import loadMJCF [as 别名]
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) 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import loadMJCF [as 别名]
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 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import loadMJCF [as 别名]
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")) 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import loadMJCF [as 别名]
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) 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import loadMJCF [as 别名]
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])