load walls (WORKS with onnx_controller caac798f)

Author: ubgk

go2_simulation/bullet_wrapper.py

@@ -33,9 +33,9 @@ def __init__(self, node, timestep):
         self.x_offset = 3.0
         self.z_offset = 0.0
 
+        self.load_walls()
         self.load_obstacles()
 
-
     def init_pybullet(self, timestep):
         cid = pybullet.connect(pybullet.SHARED_MEMORY)
         if cid < 0:
@@ -113,7 +113,6 @@ def init_pybullet(self, timestep):
             forces=[0.0 for i in range(12)],
         )
 
-
         self.w_T_b = np.eye(4)
 
         # Finite differences to compute acceleration
@@ -122,6 +121,25 @@ def init_pybullet(self, timestep):
 
         assert pybullet.isNumpyEnabled(), "Numpy not enabled in PyBullet!"
 
+    def load_walls(self):
+        half_extents = [10.0, 0.1, 2.0]
+        col_id = pybullet.createCollisionShape(pybullet.GEOM_BOX, halfExtents=half_extents)
+        vis_id = pybullet.createVisualShape(
+            pybullet.GEOM_BOX, halfExtents=half_extents, rgbaColor=[1, 0, 0, 1]
+        )
+        box_id = pybullet.createMultiBody(
+            baseMass=0,
+            baseCollisionShapeIndex=col_id,
+            baseVisualShapeIndex=vis_id,
+            basePosition=[10.0, self.box_half_width + .1, 1.],
+        )
+        box_id = pybullet.createMultiBody(
+            baseMass=0,
+            baseCollisionShapeIndex=col_id,
+            baseVisualShapeIndex=vis_id,
+            basePosition=[10.0, -self.box_half_width - .1, 1.],
+        )
+
     def load_obstacles(self):
         half_extents = [self.box_half_length, self.box_half_width, self.box_half_height]