53 lines
2.0 KiB
Python
53 lines
2.0 KiB
Python
import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(currentdir)
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os.sys.path.insert(0,parentdir)
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import pybullet_data
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from pybullet_envs.scene_abstract import Scene
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import pybullet
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class StadiumScene(Scene):
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zero_at_running_strip_start_line = True # if False, center of coordinates (0,0,0) will be at the middle of the stadium
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stadium_halflen = 105*0.25 # FOOBALL_FIELD_HALFLEN
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stadium_halfwidth = 50*0.25 # FOOBALL_FIELD_HALFWID
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stadiumLoaded=0
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def episode_restart(self, bullet_client):
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self._p = bullet_client
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Scene.episode_restart(self) # contains cpp_world.clean_everything()
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if (self.stadiumLoaded==0):
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self.stadiumLoaded=1
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# stadium_pose = cpp_household.Pose()
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# if self.zero_at_running_strip_start_line:
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# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
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filename = os.path.join(pybullet_data.getDataPath(),"plane_stadium.sdf")
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self.ground_plane_mjcf=self._p.loadSDF(filename)
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#filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
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#self.ground_plane_mjcf = self._p.loadSDF(filename)
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#
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for i in self.ground_plane_mjcf:
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self._p.changeDynamics(i,-1,lateralFriction=0.8, restitution=0.5)
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self._p.changeVisualShape(i,-1,rgbaColor=[1,1,1,0.8])
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self._p.configureDebugVisualizer(pybullet.COV_ENABLE_PLANAR_REFLECTION,1)
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# for j in range(p.getNumJoints(i)):
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# self._p.changeDynamics(i,j,lateralFriction=0)
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#despite the name (stadium_no_collision), it DID have collision, so don't add duplicate ground
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class SinglePlayerStadiumScene(StadiumScene):
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"This scene created by environment, to work in a way as if there was no concept of scene visible to user."
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multiplayer = False
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class MultiplayerStadiumScene(StadiumScene):
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multiplayer = True
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players_count = 3
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def actor_introduce(self, robot):
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StadiumScene.actor_introduce(self, robot)
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i = robot.player_n - 1 # 0 1 2 => -1 0 +1
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robot.move_robot(0, i, 0)
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