File size: 1,863 Bytes
f9cf739 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 | import numpy as np
from robosuite.models.objects import PrimitiveObject
from robosuite.utils.mjcf_utils import get_size
class CapsuleObject(PrimitiveObject):
"""
A capsule object.
Args:
size (2-tuple of float): (radius, half-length) size parameters for this capsule object
"""
def __init__(
self,
name,
size=None,
size_max=None,
size_min=None,
density=None,
friction=None,
rgba=None,
solref=None,
solimp=None,
material=None,
joints="default",
obj_type="all",
duplicate_collision_geoms=True,
):
size = get_size(size, size_max, size_min, [0.07, 0.07], [0.03, 0.03])
super().__init__(
name=name,
size=size,
rgba=rgba,
density=density,
friction=friction,
solref=solref,
solimp=solimp,
material=material,
joints=joints,
obj_type=obj_type,
duplicate_collision_geoms=duplicate_collision_geoms,
)
def sanity_check(self):
"""
Checks to make sure inputted size is of correct length
Raises:
AssertionError: [Invalid size length]
"""
assert len(self.size) == 2, "capsule size should have length 2"
def _get_object_subtree(self):
return self._get_object_subtree_(ob_type="capsule")
@property
def bottom_offset(self):
return np.array([0, 0, -1 * (self.size[0] + self.size[1])])
@property
def top_offset(self):
return np.array([0, 0, (self.size[0] + self.size[1])])
@property
def horizontal_radius(self):
return self.size[0]
def get_bounding_box_half_size(self):
return np.array([self.size[0], self.size[0], self.size[0] + self.size[1]])
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