enable planar reflection in MinitaurGymEnv
enable follow cam in other Gym locomotion environments add testing assets for multi-material obj files -> sdf conversion. Also use ER_NO_SEGMENTATION_MASK flag for TinyRenderer/EGL plugin renderer
This commit is contained in:
erwincoumans
122
data/threecubes/newsdf.sdf
Normal file
122
data/threecubes/newsdf.sdf
Normal file
@@ -0,0 +1,122 @@
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<gravity>0 0 -9.8</gravity>
|
||||
<model name='part0.obj'>
|
||||
<static>1</static>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<link name='link_d0'>
|
||||
<inertial>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.166667</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.166667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.166667</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision_0'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>part0.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>part0.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.000000 0.640000 0.000000 1.000000</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
<model name='part1.obj'>
|
||||
<static>1</static>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<link name='link_d1'>
|
||||
<inertial>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.166667</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.166667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.166667</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision_1'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>part1.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>part1.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.000000 0.000000 0.640000 1.000000</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
<model name='part2.obj'>
|
||||
<static>1</static>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<link name='link_d2'>
|
||||
<inertial>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.166667</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.166667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.166667</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision_2'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>part2.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>part2.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.640000 0.000000 0.000000 1.000000</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
60
data/threecubes/part0.obj
Normal file
60
data/threecubes/part0.obj
Normal file
@@ -0,0 +1,60 @@
|
||||
# Exported using automatic converter by Erwin Coumans
|
||||
mtllib three_cubes.mtl
|
||||
#object Cube.001
|
||||
|
||||
v -4.474365 4.513344 -0.488734
|
||||
v -4.474365 2.513344 -0.488735
|
||||
v -4.474365 2.513344 1.511265
|
||||
v -2.474365 4.513344 -0.488734
|
||||
v -2.474365 2.513344 -0.488735
|
||||
v -4.474365 2.513344 -0.488735
|
||||
v -2.474365 4.513343 1.511266
|
||||
v -2.474365 2.513344 1.511265
|
||||
v -2.474365 2.513344 -0.488735
|
||||
v -4.474365 4.513343 1.511266
|
||||
v -4.474365 2.513344 1.511265
|
||||
v -2.474365 2.513344 1.511265
|
||||
v -4.474365 2.513344 -0.488735
|
||||
v -2.474365 4.513343 1.511266
|
||||
v -2.474365 4.513344 -0.488734
|
||||
v -4.474365 4.513343 1.511266
|
||||
v -4.474365 4.513344 -0.488734
|
||||
v -2.474365 4.513344 -0.488734
|
||||
v -2.474365 4.513343 1.511266
|
||||
v -4.474365 2.513344 1.511265
|
||||
usemtl Material.001
|
||||
|
||||
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
s off
|
||||
f 1/1/1 2/2/2 3/3/3
|
||||
f 4/4/4 5/5/5 6/6/6
|
||||
f 7/7/7 8/8/8 9/9/9
|
||||
f 10/10/10 11/11/11 12/12/12
|
||||
f 13/13/13 5/5/5 12/12/12
|
||||
f 10/10/10 14/14/14 15/15/15
|
||||
f 16/16/16 1/1/1 3/3/3
|
||||
f 17/17/17 4/4/4 6/6/6
|
||||
f 18/18/18 7/7/7 9/9/9
|
||||
f 19/19/19 10/10/10 12/12/12
|
||||
f 20/20/20 13/13/13 12/12/12
|
||||
f 17/17/17 10/10/10 15/15/15
|
||||
60
data/threecubes/part1.obj
Normal file
60
data/threecubes/part1.obj
Normal file
@@ -0,0 +1,60 @@
|
||||
# Exported using automatic converter by Erwin Coumans
|
||||
mtllib three_cubes.mtl
|
||||
#object Cube.002
|
||||
|
||||
v -4.474365 4.513344 -3.663786
|
||||
v -4.474365 2.513345 -3.663786
|
||||
v -4.474365 2.513344 -1.663787
|
||||
v -2.474365 4.513344 -3.663786
|
||||
v -2.474365 2.513345 -3.663786
|
||||
v -4.474365 2.513345 -3.663786
|
||||
v -2.474365 4.513344 -1.663786
|
||||
v -2.474365 2.513344 -1.663787
|
||||
v -2.474365 2.513345 -3.663786
|
||||
v -4.474365 4.513344 -1.663786
|
||||
v -4.474365 2.513344 -1.663787
|
||||
v -2.474365 2.513344 -1.663787
|
||||
v -4.474365 2.513345 -3.663786
|
||||
v -2.474365 4.513344 -1.663786
|
||||
v -2.474365 4.513344 -3.663786
|
||||
v -4.474365 4.513344 -1.663786
|
||||
v -4.474365 4.513344 -3.663786
|
||||
v -2.474365 4.513344 -3.663786
|
||||
v -2.474365 4.513344 -1.663786
|
||||
v -4.474365 2.513344 -1.663787
|
||||
usemtl Material.002
|
||||
|
||||
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
s off
|
||||
f 1/1/1 2/2/2 3/3/3
|
||||
f 4/4/4 5/5/5 6/6/6
|
||||
f 7/7/7 8/8/8 9/9/9
|
||||
f 10/10/10 11/11/11 12/12/12
|
||||
f 13/13/13 5/5/5 12/12/12
|
||||
f 10/10/10 14/14/14 15/15/15
|
||||
f 16/16/16 1/1/1 3/3/3
|
||||
f 17/17/17 4/4/4 6/6/6
|
||||
f 18/18/18 7/7/7 9/9/9
|
||||
f 19/19/19 10/10/10 12/12/12
|
||||
f 20/20/20 13/13/13 12/12/12
|
||||
f 17/17/17 10/10/10 15/15/15
|
||||
60
data/threecubes/part2.obj
Normal file
60
data/threecubes/part2.obj
Normal file
@@ -0,0 +1,60 @@
|
||||
# Exported using automatic converter by Erwin Coumans
|
||||
mtllib three_cubes.mtl
|
||||
#object Cube
|
||||
|
||||
v -4.474365 4.513343 2.535691
|
||||
v -4.474365 2.513344 2.535691
|
||||
v -4.474365 2.513343 4.535690
|
||||
v -2.474365 4.513343 2.535691
|
||||
v -2.474365 2.513344 2.535691
|
||||
v -4.474365 2.513344 2.535691
|
||||
v -2.474365 4.513343 4.535691
|
||||
v -2.474365 2.513343 4.535690
|
||||
v -2.474365 2.513344 2.535691
|
||||
v -4.474365 4.513343 4.535691
|
||||
v -4.474365 2.513343 4.535690
|
||||
v -2.474365 2.513343 4.535690
|
||||
v -4.474365 2.513344 2.535691
|
||||
v -2.474365 4.513343 4.535691
|
||||
v -2.474365 4.513343 2.535691
|
||||
v -4.474365 4.513343 4.535691
|
||||
v -4.474365 4.513343 2.535691
|
||||
v -2.474365 4.513343 2.535691
|
||||
v -2.474365 4.513343 4.535691
|
||||
v -4.474365 2.513343 4.535690
|
||||
usemtl Material
|
||||
|
||||
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
vt 0.000000 0.000000
|
||||
s off
|
||||
f 1/1/1 2/2/2 3/3/3
|
||||
f 4/4/4 5/5/5 6/6/6
|
||||
f 7/7/7 8/8/8 9/9/9
|
||||
f 10/10/10 11/11/11 12/12/12
|
||||
f 13/13/13 5/5/5 12/12/12
|
||||
f 10/10/10 14/14/14 15/15/15
|
||||
f 16/16/16 1/1/1 3/3/3
|
||||
f 17/17/17 4/4/4 6/6/6
|
||||
f 18/18/18 7/7/7 9/9/9
|
||||
f 19/19/19 10/10/10 12/12/12
|
||||
f 20/20/20 13/13/13 12/12/12
|
||||
f 17/17/17 10/10/10 15/15/15
|
||||
31
data/threecubes/three_cubes.mtl
Normal file
31
data/threecubes/three_cubes.mtl
Normal file
@@ -0,0 +1,31 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 3
|
||||
|
||||
newmtl Material
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.000000 0.000000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
|
||||
newmtl Material.001
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.000000 0.640000 0.000000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Material.002
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.000000 0.000000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
84
data/threecubes/three_cubes.obj
Normal file
84
data/threecubes/three_cubes.obj
Normal file
@@ -0,0 +1,84 @@
|
||||
# Blender v2.71 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib three_cubes.mtl
|
||||
o Cube.001
|
||||
v -4.474365 4.513343 1.511266
|
||||
v -4.474365 4.513344 -0.488734
|
||||
v -4.474365 2.513344 -0.488735
|
||||
v -4.474365 2.513344 1.511265
|
||||
v -2.474365 4.513344 -0.488734
|
||||
v -2.474365 2.513344 -0.488735
|
||||
v -2.474365 4.513343 1.511266
|
||||
v -2.474365 2.513344 1.511265
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 0.000000 0.000000
|
||||
usemtl Material.001
|
||||
s off
|
||||
f 2/1 3/2 4/3
|
||||
f 5/1 6/2 3/3
|
||||
f 7/1 8/2 6/3
|
||||
f 1/1 4/2 8/3
|
||||
f 3/1 6/2 8/3
|
||||
f 1/1 7/2 5/3
|
||||
f 1/4 2/1 4/3
|
||||
f 2/4 5/1 3/3
|
||||
f 5/4 7/1 6/3
|
||||
f 7/4 1/1 8/3
|
||||
f 4/4 3/1 8/3
|
||||
f 2/4 1/1 5/3
|
||||
o Cube.002
|
||||
v -4.474365 4.513344 -1.663786
|
||||
v -4.474365 4.513344 -3.663786
|
||||
v -4.474365 2.513345 -3.663786
|
||||
v -4.474365 2.513344 -1.663787
|
||||
v -2.474365 4.513344 -3.663786
|
||||
v -2.474365 2.513345 -3.663786
|
||||
v -2.474365 4.513344 -1.663786
|
||||
v -2.474365 2.513344 -1.663787
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 0.000000 0.000000
|
||||
usemtl Material.002
|
||||
s off
|
||||
f 10/5 11/6 12/7
|
||||
f 13/5 14/6 11/7
|
||||
f 15/5 16/6 14/7
|
||||
f 9/5 12/6 16/7
|
||||
f 11/5 14/6 16/7
|
||||
f 9/5 15/6 13/7
|
||||
f 9/8 10/5 12/7
|
||||
f 10/8 13/5 11/7
|
||||
f 13/8 15/5 14/7
|
||||
f 15/8 9/5 16/7
|
||||
f 12/8 11/5 16/7
|
||||
f 10/8 9/5 13/7
|
||||
o Cube
|
||||
v -4.474365 4.513343 4.535691
|
||||
v -4.474365 4.513343 2.535691
|
||||
v -4.474365 2.513344 2.535691
|
||||
v -4.474365 2.513343 4.535690
|
||||
v -2.474365 4.513343 2.535691
|
||||
v -2.474365 2.513344 2.535691
|
||||
v -2.474365 4.513343 4.535691
|
||||
v -2.474365 2.513343 4.535690
|
||||
vt 1.000000 0.000000
|
||||
vt 1.000000 1.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 0.000000 0.000000
|
||||
usemtl Material
|
||||
s off
|
||||
f 18/9 19/10 20/11
|
||||
f 21/9 22/10 19/11
|
||||
f 23/9 24/10 22/11
|
||||
f 17/9 20/10 24/11
|
||||
f 19/9 22/10 24/11
|
||||
f 17/9 23/10 21/11
|
||||
f 17/12 18/9 20/11
|
||||
f 18/12 21/9 19/11
|
||||
f 21/12 23/9 22/11
|
||||
f 23/12 17/9 24/11
|
||||
f 20/12 19/9 24/11
|
||||
f 18/12 17/9 21/11
|
||||
8
data/threecubes/threecubes.py
Normal file
8
data/threecubes/threecubes.py
Normal file
@@ -0,0 +1,8 @@
|
||||
import pybullet as p
|
||||
p.connect(p.DIRECT)
|
||||
p.loadPlugin("eglRendererPlugin")
|
||||
p.loadSDF("newsdf.sdf")
|
||||
while (1):
|
||||
p.getCameraImage(320,240, flags=p.ER_NO_SEGMENTATION_MASK)
|
||||
p.stepSimulation()
|
||||
|
||||
32
data/threecubes/threecubes.urdf
Normal file
32
data/threecubes/threecubes.urdf
Normal file
@@ -0,0 +1,32 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="three_cubes.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="three_cubes.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
22
data/threecubes/threecubes_org.py
Normal file
22
data/threecubes/threecubes_org.py
Normal file
@@ -0,0 +1,22 @@
|
||||
import pybullet as p
|
||||
useEGL = False
|
||||
useEGLGUI = False
|
||||
|
||||
if useEGL:
|
||||
if useEGLGUI:
|
||||
p.connect(p.GUI, "window_backend=2")
|
||||
else:
|
||||
p.connect(p.DIRECT)
|
||||
p.loadPlugin("eglRendererPlugin")
|
||||
else:
|
||||
p.connect(p.GUI)
|
||||
|
||||
p.loadURDF("threecubes.urdf", flags=p.URDF_USE_MATERIAL_COLORS_FROM_MTL)
|
||||
while (1):
|
||||
|
||||
viewmat= [0.642787516117096, -0.4393851161003113, 0.6275069713592529, 0.0, 0.766044557094574, 0.36868777871131897, -0.5265407562255859, 0.0, -0.0, 0.8191521167755127, 0.5735764503479004, 0.0, 2.384185791015625e-07, 2.384185791015625e-07, -5.000000476837158, 1.0]
|
||||
projmat= [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
|
||||
|
||||
p.getCameraImage(64,64, viewMatrix=viewmat, projectionMatrix=projmat, flags=p.ER_NO_SEGMENTATION_MASK )
|
||||
p.stepSimulation()
|
||||
|
||||
Reference in New Issue
Block a user