diff options
Diffstat (limited to 'examples')
| -rw-r--r-- | examples/pybullet/gym/pybullet_utils/urdfEditor.py | 37 |
1 files changed, 13 insertions, 24 deletions
diff --git a/examples/pybullet/gym/pybullet_utils/urdfEditor.py b/examples/pybullet/gym/pybullet_utils/urdfEditor.py index 9cfd950ed..ee1a2278a 100644 --- a/examples/pybullet/gym/pybullet_utils/urdfEditor.py +++ b/examples/pybullet/gym/pybullet_utils/urdfEditor.py @@ -375,8 +375,8 @@ class UrdfEditor(object): physicsClientId=physicsClientId) - urdfVisuals = base.urdf_visual_shapes - baseVisualShapeIndex = p.createVisualShapeArray(shapeTypes=[v.geom_type for v in urdfVisuals], + urdfVisuals = base.urdf_visual_shapes + baseVisualShapeIndex = p.createVisualShapeArray(shapeTypes=[v.geom_type for v in urdfVisuals], halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in urdfVisuals], radii=[v.geom_radius for v in urdfVisuals], lengths=[v.geom_length[0] for v in urdfVisuals], @@ -453,28 +453,17 @@ class UrdfEditor(object): collisionFrameOrientations=linkOrientationsArray, physicsClientId=physicsClientId) - urdfVisuals = link.urdf_visual_shapes - linkVisualShapeIndex = p.createVisualShapeArray(shapeTypes=[v.geom_type for v in urdfVisuals], - halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in urdfVisuals], - radii=[v.geom_radius for v in urdfVisuals], - lengths=[v.geom_length[0] for v in urdfVisuals], - fileNames=[v.geom_meshfilename for v in urdfVisuals], - meshScales=[v.geom_meshscale for v in urdfVisuals], - rgbaColors=[v.material_rgba for v in urdfVisuals], - visualFramePositions=[v.origin_xyz for v in urdfVisuals], - visualFrameOrientations=[v.origin_rpy for v in urdfVisuals], - physicsClientId=physicsClientId) - -# linkVisualShapeIndex = p.createVisualShape(shapeType=urdfVisual.geom_type, -# halfExtents=[ext * 0.5 for ext in urdfVisual.geom_extents], -# radius=urdfVisual.geom_radius, -# length=urdfVisual.geom_length[0], -# fileName=urdfVisual.geom_meshfilename, -# meshScale=urdfVisual.geom_meshscale, -# rgbaColor=urdfVisual.material_rgba, -# visualFramePosition=urdfVisual.origin_xyz, -# visualFrameOrientation=urdfVisual.origin_rpy, -# physicsClientId=physicsClientId) + urdfVisuals = link.urdf_visual_shapes + linkVisualShapeIndex = p.createVisualShapeArray(shapeTypes=[v.geom_type for v in urdfVisuals], + halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in urdfVisuals], + radii=[v.geom_radius for v in urdfVisuals], + lengths=[v.geom_length[0] for v in urdfVisuals], + fileNames=[v.geom_meshfilename for v in urdfVisuals], + meshScales=[v.geom_meshscale for v in urdfVisuals], + rgbaColors=[v.material_rgba for v in urdfVisuals], + visualFramePositions=[v.origin_xyz for v in urdfVisuals], + visualFrameOrientations=[v.origin_rpy for v in urdfVisuals], + physicsClientId=physicsClientId) linkMasses.append(linkMass) linkCollisionShapeIndices.append(linkCollisionShapeIndex) |