robossembler/runtime
7
0
Fork 0
Code Issues 4 Pull requests Projects Releases Packages Wiki Activity Actions

add material properties to terrain and ground models

Browse source 
- Introduced `ambient`, `specular`, and `diffuse` attributes to `TerrainData` class.
- Updated `Ground` class to accept and use material properties for ambient, specular, and diffuse values.
- Modified the SDF generation to dynamically apply the provided material properties.
- Integrated material property support in the `Scene` class for terrain setup.
This commit is contained in:
Ilya Uraev 2024-11-22 02:13:01 +03:00
parent 5747057baf
commit b71a2bdf55
3 changed files with 16 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

3
env_manager/env_manager/env_manager/models/configs/terrain.py
View file

@ -27,4 +27,7 @@ class TerrainData:
spawn_position: tuple[float, float, float] = field(default=(0, 0, 0))
spawn_quat_xyzw: tuple[float, float, float, float] = field(default=(0, 0, 0, 1))
size: tuple[float, float] = field(default=(1.5, 1.5))
ambient: tuple[float, float, float, float] = field(default=(0.8, 0.8, 0.8, 1.0))
specular: tuple[float, float, float, float] = field(default=(0.8, 0.8, 0.8, 1.0))
diffuse: tuple[float, float, float, float] = field(default=(0.8, 0.8, 0.8, 1.0))
model_rollouts_num: int = field(default=1)

14
env_manager/env_manager/env_manager/models/terrains/ground.py
View file

@ -20,6 +20,9 @@ class Ground(model_wrapper.ModelWrapper):
size (tuple[float, float], optional): The size of the ground plane. Defaults to (1.5, 1.5).
collision_thickness (float, optional): The thickness of the collision surface. Defaults to 0.05.
friction (float, optional): The friction coefficient for the ground surface. Defaults to 5.0.
ambient (tuple[float, float, float, float], optional): The ambient color of the material. Defaults to (0.8, 0.8, 0.8, 1.0).
specular (tuple[float, float, float, float], optional): The specular color of the material. Defaults to (0.8, 0.8, 0.8, 1.0).
diffuse (tuple[float, float, float, float], optional): The diffuse color of the material. Defaults to (0.8, 0.8, 0.8, 1.0).
**kwargs: Additional keyword arguments for future extensions.
Raises:
@ -35,6 +38,9 @@ class Ground(model_wrapper.ModelWrapper):
size: tuple[float, float] = (1.5, 1.5),
collision_thickness=0.05,
friction: float = 5.0,
ambient: tuple[float, float, float, float] = (0.8, 0.8, 0.8, 1.0),
specular: tuple[float, float, float, float] = (0.8, 0.8, 0.8, 1.0),
diffuse: tuple[float, float, float, float] = (0.8, 0.8, 0.8, 1.0),
**kwargs,
):
# Get a unique model name
@ -43,7 +49,7 @@ class Ground(model_wrapper.ModelWrapper):
# Initial pose
initial_pose = scenario_core.Pose(position, orientation)
# Create SDF string for the model
# Create SDF string for the model with the provided material properties
sdf = f"""<sdf version="1.9">
<model name="{model_name}">
<static>true</static>
@ -75,9 +81,9 @@ class Ground(model_wrapper.ModelWrapper):
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
<ambient>{' '.join(map(str, ambient))}</ambient>
<diffuse>{' '.join(map(str, diffuse))}</diffuse>
<specular>{' '.join(map(str, specular))}</specular>
</material>
</visual>
</link>

3
env_manager/env_manager/env_manager/scene/scene.py
View file

@ -573,6 +573,9 @@ class Scene:
position=self.terrain.spawn_position,
orientation=quat_to_wxyz(self.terrain.spawn_quat_xyzw),
size=self.terrain.size,
ambient=self.terrain.ambient,
diffuse=self.terrain.diffuse,
specular=self.terrain.specular,
)
# Enable contact detection