add stadium

realenv/core/physics/scene_building.py

@@ -24,7 +24,7 @@ class BuildingScene(Scene):
         collisionId = p.createCollisionShape(p.GEOM_MESH, fileName=filename, meshScale=original, flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
         print(filename)
         #visualId = p.createVisualShape(p.GEOM_MESH, fileName=filename, meshScale=original, rgbaColor = [93/255.0,95/255.0, 96/255.0,0.75], specularColor=[0.4, 0.4, 0.4])
-        boundaryUid = p.createMultiBody(baseCollisionShapeIndex = collisionId, baseVisualShapeIndex = 0)
+        boundaryUid = p.createMultiBody(baseCollisionShapeIndex = collisionId, baseVisualShapeIndex = -1)
         #visualId = p.loadTexture(os.path.join(os.path.dirname(os.path.abspath(__file__)), "tex256.png"))
         #p.changeVisualShape(boundaryUid, -1, textureUniqueId=visualId)
         #self.building_obj = [collisionId]
@@ -39,7 +39,9 @@ class BuildingScene(Scene):
             #collisionId = p.createCollisionShape(p.GEOM_MESH, fileName=filename, meshScale=[1, 1, 1], flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
             #p.changeVisualShape(boundaryUid, -1, textureUniqueId=visualId)
             #p.changeVisualShape(i,-1,rgbaColor=[93/255.0,95/255.0, 96/255.0,0.75], specularColor=[0.4, 0.4, 0.4])
-        
+
 
 class SinglePlayerBuildingScene(BuildingScene):
     multiplayer = False
+
+

realenv/core/physics/scene_stadium.py

@@ -21,6 +21,11 @@ class StadiumScene(Scene):
         for i in self.ground_plane_mjcf:
             p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0])
 
+
+
+        self.building_obj = self.stadium
+
+
 class SinglePlayerStadiumScene(StadiumScene):
     "This scene created by environment, to work in a way as if there was no concept of scene visible to user."
     multiplayer = False

realenv/envs/env_bases.py

@@ -56,7 +56,7 @@ class MJCFBaseEnv(gym.Env):
                         self.set_window(-1, -1, 512, 512)
                 else:
                     self.physicsClientId = p.connect(p.DIRECT)
-        
+
     def configure(self, args):
         self.robot.args = args
     def _seed(self, seed=None):
@@ -71,11 +71,20 @@ class MJCFBaseEnv(gym.Env):
         p.configureDebugVisualizer(p.COV_ENABLE_SHADOWS, 1)
         #p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
 
+        SCENE = 'building'
+        ##TODO: move to config file
+
         if self.scene is None:
-            self.scene = self.create_single_player_scene()
+            self.scene = self.create_single_player_scene(SCENE)
         if not self.scene.multiplayer:
             self.scene.episode_restart()
 
+        #visualid = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'),
+        #                               meshScale=[0.3, 0.3, 0.3], rgbaColor=[1, 0, 0, 0.7])
+        #physicsid = p.createMultiBody(baseVisualShapeIndex=visualid, baseCollisionShapeIndex=-1, basePosition=[0, 0, 2])
+        #keep code here for reference
+
+
         self.robot.scene = self.scene
 
         self.frame = 0

realenv/envs/env_modalities.py

@@ -1,4 +1,6 @@
 from realenv.core.physics.scene_building import SinglePlayerBuildingScene
+from realenv.core.physics.scene_stadium import SinglePlayerStadiumScene
+
 from realenv.data.datasets import ViewDataSet3D, get_model_path, MAKE_VIDEO
 from realenv.core.render.show_3d2 import PCRenderer
 from realenv.envs.env_bases import MJCFBaseEnv
@@ -206,8 +208,14 @@ class SensorRobotEnv(MJCFBaseEnv):
         return top_k
 
 
-    def create_single_player_scene(self):
-        self.building_scene = SinglePlayerBuildingScene(gravity=9.8, timestep=self.timestep, frame_skip=self.frame_skip)
+    def create_single_player_scene(self, scene = 'building'):
+        if scene == 'building':
+            self.building_scene = SinglePlayerBuildingScene(gravity=9.8, timestep=self.timestep, frame_skip=self.frame_skip)
+        elif scene == 'stadium':
+            self.building_scene = SinglePlayerStadiumScene(gravity=9.8, timestep=self.timestep, frame_skip=self.frame_skip)
+        else:
+            self.building_scene = None
+            print("Scene not created")
         return self.building_scene
 
 

realenv/envs/husky_env.py

@@ -56,6 +56,8 @@ class HuskySensorEnv(HuskyEnv, SensorRobotEnv):
         SensorRobotEnv.__init__(self)
         self.nframe = 0
 
+
+
     def  _reset(self):
         obs = SensorRobotEnv._reset(self)
         self.nframe = 0