| | 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]]) |
| |
|
