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replace green stadium with blue checkered Bullet plane

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add missing files to pybullet setup.pu
This commit is contained in:
Erwin Coumans
2018-04-10 19:55:26 -07:00
parent 0832d3fd22
commit 7fa5e91cbd
3 changed files with 12 additions and 7 deletions
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4
examples/pybullet/gym/pybullet_data/plane100.urdf
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@@ -1,6 +1,6 @@
<?xml version="0.0" ?> <?xml version="0.0" ?>
<robot name="cube.urdf"> <robot name="floor">
<link name="baseLink"> <link name="floor">
<inertial> <inertial>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/> <mass value=".0"/>

11
examples/pybullet/gym/pybullet_envs/scene_stadium.py
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@@ -24,13 +24,16 @@ class StadiumScene(Scene):
# stadium_pose = cpp_household.Pose() # stadium_pose = cpp_household.Pose()
# if self.zero_at_running_strip_start_line: # if self.zero_at_running_strip_start_line:
# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants # stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
self.ground_plane_mjcf = p.loadSDF(filename)
filename = os.path.join(pybullet_data.getDataPath(),"plane_stadium.sdf")
self.ground_plane_mjcf=p.loadSDF(filename)
#filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
#self.ground_plane_mjcf = p.loadSDF(filename)
#
for i in self.ground_plane_mjcf: for i in self.ground_plane_mjcf:
p.changeDynamics(i,-1,lateralFriction=0.8, restitution=0.5) p.changeDynamics(i,-1,lateralFriction=0.8, restitution=0.5)
for j in range(p.getNumJoints(i)): # for j in range(p.getNumJoints(i)):
p.changeDynamics(i,j,lateralFriction=0) # p.changeDynamics(i,j,lateralFriction=0)
#despite the name (stadium_no_collision), it DID have collision, so don't add duplicate ground #despite the name (stadium_no_collision), it DID have collision, so don't add duplicate ground
class SinglePlayerStadiumScene(StadiumScene): class SinglePlayerStadiumScene(StadiumScene):

2
setup.py
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@@ -219,6 +219,8 @@ sources = ["examples/pybullet/pybullet.c"]\
+["src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp"]\ +["src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp"]\ +["src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp"]\ +["src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btMiniSDF.cpp"]\
+["src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp"]\ +["src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp"]\
+["src/BulletCollision/Gimpact/btContactProcessing.cpp"]\ +["src/BulletCollision/Gimpact/btContactProcessing.cpp"]\
+["src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp"]\ +["src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp"]\