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enable planar reflection in MinitaurGymEnv

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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
2018-10-14 15:10:19 -07:00
parent c1e20c448f
commit b5e475aec3
16 changed files with 544 additions and 6 deletions
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122
data/threecubes/newsdf.sdf Normal file
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<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>