| import numpy as np |
|
|
| from robosuite.models.objects import MujocoGeneratedObject, PrimitiveObject |
| from robosuite.utils.mjcf_utils import get_size |
|
|
|
|
| class CylinderObject(PrimitiveObject): |
| """ |
| A cylinder object. |
| |
| Args: |
| size (2-tuple of float): (radius, half-length) size parameters for this cylinder 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, |
| rng=None, |
| ): |
| size = get_size(size, size_max, size_min, [0.07, 0.07], [0.03, 0.03], rng=rng) |
|
|
| |
| if friction is None: |
| friction = [1, 0.01, 0.001] |
| if solref is None: |
| solref = [0.01, 0.5] |
| if joints == "default": |
| joints = [{"type": "free", "damping": "0.0001"}] |
|
|
| 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, "cylinder size should have length 2" |
|
|
| def _get_object_subtree(self): |
| return self._get_object_subtree_(ob_type="cylinder") |
|
|
| @staticmethod |
| def get_collision_attrib_template(): |
| """ |
| Generates template with collision attributes for a given geom |
| |
| Extends super method for better stability for contacts |
| |
| Returns: |
| dict: Initial template with `'pos'` and `'group'` already specified |
| """ |
| template = MujocoGeneratedObject.get_collision_attrib_template() |
| |
| template["margin"] = "0.001" |
| return template |
|
|
| @property |
| def bottom_offset(self): |
| return np.array([0, 0, -1 * self.size[1]]) |
|
|
| @property |
| def top_offset(self): |
| return np.array([0, 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[1]]) |
|
|
