Soccer field and goals creation for Mujoco simulator - #2158
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oleflb
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Nice, looks good! Two more things:
- Please use some formatter on the XML files
- Right now, our own visualizer does not support capsule colliders. I can make a PR to support Capsules or if you want to merge this PR before that, we need to change the goal posts to only be cylinders.
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I've implemented support for capsules. Therefore this PR can probably be merged once #2163 is merged |
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* update: removed compiled-nn dependency from vision * feat: added base soccer field and goals * update: converted cylinders using replicate from mujoco xml and removed unused images from textures * format: formatted xml files based on editor config rules * fix: z-index of field surface * fix: made ground to intersect with field to avoid z-fighting
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Why? What?
For simulating the real world surroundings of the soccer field created a field with image and goals on both sides of the field
Ideas for Next Iterations (Not This PR)
Need to add sensors that captures when a goal enters the goals/leaves the playing area, so that we could trigger an event message from the simulator to the connected party.
How to Test
By running the simulator, i.e., Change the directory to
tools/mujoco-simulator/mujoco-simulatorand run the commanduv run viewer.py