Merge pull request #114 from diegoferigo/update_models

Update models and worlds
robotology-legacy · Dec 22, 2019 · 5b5bc5f · 5b5bc5f
2 parents 01a5123 + b1ed6b6
commit 5b5bc5f
Showing 20 changed files with 396 additions and 1,232 deletions.
diff --git a/gym_ignition/__init__.py b/gym_ignition/__init__.py
@@ -53,7 +53,7 @@
     max_episode_steps=5000,
     kwargs={'task_cls': pendulum_swingup.PendulumSwingUp,
             'robot_cls': sim.gazebo.pendulum.PendulumGazeboRobot,
-            'model': "Pendulum/Pendulum.sdf",
+            'model': "Pendulum/Pendulum.urdf",
             'world': "DefaultEmptyWorld.world",
             'rtf': max_float,
             'agent_rate': 1000,
@@ -67,7 +67,7 @@
     max_episode_steps=5000,
     kwargs={'task_cls': cartpole_discrete.CartPoleDiscrete,
             'robot_cls': sim.gazebo.cartpole.CartPoleGazeboRobot,
-            'model': "CartPole/CartPole.sdf",
+            'model': "CartPole/CartPole.urdf",
             'world': "DefaultEmptyWorld.world",
             'rtf': max_float,
             'agent_rate': 1000,
@@ -81,7 +81,7 @@
     max_episode_steps=5000,
     kwargs={'task_cls': cartpole_continuous.CartPoleContinuous,
             'robot_cls': sim.gazebo.cartpole.CartPoleGazeboRobot,
-            'model': "CartPole/CartPole.sdf",
+            'model': "CartPole/CartPole.urdf",
             'world': "DefaultEmptyWorld.world",
             'rtf': max_float,
             'agent_rate': 1000,

diff --git a/gym_ignition/gympp/cartpole.py b/gym_ignition/gympp/cartpole.py
@@ -21,7 +21,7 @@ def _plugin_metadata(self) -> bindings.PluginMetadata:
         md.setLibraryName("CartPolePlugin")
         md.setClassName("gympp::plugins::CartPole")
         md.setWorldFileName("DefaultEmptyWorld.world")
-        md.setModelFileName("CartPole/CartPole.sdf")
+        md.setModelFileName("CartPole/CartPole.urdf")
 
         md.setAgentRate(1000)
 

diff --git a/gym_ignition_data/CartPole/CartPole.sdf b/gym_ignition_data/CartPole/CartPole.sdf
diff --git a/gym_ignition_data/CartPole/CartPole.urdf b/gym_ignition_data/CartPole/CartPole.urdf
@@ -3,48 +3,39 @@
 <!-- |    This document was autogenerated by xacro from CartPole.urdf.xacro            | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="cartpole_xacro" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="cartpole_xacro">
   <!-- CartPole properties match the OpenAI Gym CartPole-v1 environment -->
   <!-- https://github.com/openai/gym/blob/master/gym/envs/classic_control/cartpole.py -->
   <!-- ====== -->
   <!-- COLORS -->
   <!-- ====== -->
   <material name="black">
-    <color rgba="0 0 0 0.8"/>
+    <color rgba="0 0 0 1"/>
   </material>
   <material name="white">
-    <color rgba="1 1 1 0.8"/>
+    <color rgba="1 1 1 1"/>
   </material>
   <material name="grey">
-    <color rgba="0.2 0.2 0.2 0.8"/>
+    <color rgba="0.2 0.2 0.2 1"/>
   </material>
   <gazebo reference="rail">
     <visual>
       <material>
-        <ambient>0 0 0 0.8</ambient>
-        <diffuse>0 0 0 0.8</diffuse>
-        <specular>0 0 0 0.8</specular>
-        <emissive>0 0 0 0.8</emissive>
+        <diffuse>0 0 0 1</diffuse>
       </material>
     </visual>
   </gazebo>
   <gazebo reference="cart">
     <visual>
       <material>
-        <ambient>0.2 0.2 0.2 0.8</ambient>
-        <diffuse>0.2 0.2 0.2 0.8</diffuse>
-        <specular>0.2 0.2 0.2 0.8</specular>
-        <emissive>0.2 0.2 0.2 0.8</emissive>
+        <diffuse>0.2 0.2 0.2 1</diffuse>
       </material>
     </visual>
   </gazebo>
   <gazebo reference="pole">
     <visual>
       <material>
-        <ambient>1 0 0 0.8</ambient>
-        <diffuse>1 0 0 0.8</diffuse>
-        <specular>1 0 0 0.8</specular>
-        <emissive>1 0 0 0.8</emissive>
+        <diffuse>1 0 0 1</diffuse>
       </material>
     </visual>
   </gazebo>
@@ -64,7 +55,7 @@
       </geometry>
       <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
       <material name="black">
-        <color rgba="0 0 0 0.8"/>
+        <color rgba="0 0 0 1"/>
       </material>
     </visual>
   </link>
@@ -80,7 +71,7 @@
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <material name="grey">
-        <color rgba="0.2 0.2 0.2 0.8"/>
+        <color rgba="0.2 0.2 0.2 1"/>
       </material>
     </visual>
     <collision>
@@ -102,7 +93,7 @@
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0.5"/>
       <material name="red">
-        <color rgba="1 0 0 0.8"/>
+        <color rgba="1 0 0 1"/>
       </material>
     </visual>
     <collision>
@@ -111,7 +102,7 @@
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0.5"/>
       <material name="red">
-        <color rgba="1 0 0 0.8"/>
+        <color rgba="1 0 0 1"/>
       </material>
     </collision>
   </link>

diff --git a/gym_ignition_data/CartPole/CartPole.urdf.xacro b/gym_ignition_data/CartPole/CartPole.urdf.xacro
@@ -22,10 +22,10 @@
 
     <xacro:property name="epsilon" value="1e-09"/>
 
-    <xacro:property name="rgba_black" value="0 0 0 0.8"/>
-    <xacro:property name="rgba_white" value="1 1 1 0.8"/>
-    <xacro:property name="rgba_grey" value="0.2 0.2 0.2 0.8"/>
-    <xacro:property name="rgba_red" value="1 0 0 0.8"/>
+    <xacro:property name="rgba_black" value="0 0 0 1"/>
+    <xacro:property name="rgba_white" value="1 1 1 1"/>
+    <xacro:property name="rgba_grey" value="0.2 0.2 0.2 1"/>
+    <xacro:property name="rgba_red" value="1 0 0 1"/>
 
     <xacro:macro name="box_inertia" params="mass dimx dimy dimz xyz rpy">
         <inertial>
@@ -62,10 +62,7 @@
         <gazebo reference="${reference}">
             <visual>
                 <material>
-                    <ambient>${rgba}</ambient>
                     <diffuse>${rgba}</diffuse>
-                    <specular>${rgba}</specular>
-                    <emissive>${rgba}</emissive>
                 </material>
             </visual>
         </gazebo>

diff --git a/gym_ignition_data/CartPole/model.config b/gym_ignition_data/CartPole/model.config
@@ -1,16 +1,16 @@
 <?xml version="1.0"?>
 <model>
-    <name>CartPole World for Ignition</name>
+    <name>CartPole</name>
 
     <version>1.0</version>
-    <sdf version='1.6'>CartPole.sdf</sdf>
+    <sdf version='1.6'>CartPole.urdf</sdf>
 
     <author>
         <name>Diego Ferigo</name>
         <email>diego.ferigo@iit.it</email>
     </author>
 
     <description>
-        World for the CartPole.
+        SDF model of a simple cartpole.
     </description>
 </model>