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flat_ground

FlatGroundWorld

Bases: _GroundContactMixin, BaseWorld

World with a flat infinite ground plane. Flies are free to move.

When calling add_fly, the following extra keyword arguments are accepted:

  • bodysegs_with_ground_contact: Body segments that collide with the ground. Accepts a contact-bodies preset of the fly's model (e.g. ContactBodiesPreset for NeuroMechFly), a preset string, or a collection of BodySegment objects. Default: "legs_thorax_abdomen_head".
  • ground_contact_params: ContactParams for friction and contact physics. Default: ContactParams().
  • add_ground_contact_sensors: If True, add contact force sensors for each leg. Default: True.

Parameters:

Name Type Description Default
name str

Name of the world.

 'flat_ground_world'
half_size float

Half-size of the ground plane in mm.

 1000
Source code in src/flygym/compose/world/flat_ground.py 
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class FlatGroundWorld(_GroundContactMixin, BaseWorld):
    """World with a flat infinite ground plane. Flies are free to move.

    When calling `add_fly`, the following extra keyword arguments are accepted:

    - ``bodysegs_with_ground_contact``: Body segments that collide with the ground.
      Accepts a contact-bodies preset of the fly's model (e.g. `ContactBodiesPreset`
      for `NeuroMechFly`), a preset string, or a collection of `BodySegment` objects.
      Default: ``"legs_thorax_abdomen_head"``.
    - ``ground_contact_params``: `ContactParams` for friction and contact physics.
      Default: ``ContactParams()``.
    - ``add_ground_contact_sensors``: If True, add contact force sensors for each leg.
      Default: ``True``.

    Args:
        name: Name of the world.
        half_size: Half-size of the ground plane in mm.
    """

    @override
    def __init__(
        self, name: str = "flat_ground_world", *, half_size: float = 1000
    ) -> None:
        super().__init__(name=name)

        add_texture(
            self.mjcf_root,
            name="checker",
            type="2d",
            builtin="checker",
            width=300,
            height=300,
            rgb1=(0.3, 0.3, 0.3),
            rgb2=(0.4, 0.4, 0.4),
        )
        add_material(
            self.mjcf_root,
            name="grid",
            texture="checker",
            texrepeat=(250, 250),
            reflectance=0.2,
        )
        self.ground_geom = self.mjcf_root.worldbody.add_geom(
            type=GEOM_TYPES["plane"],
            name="ground_plane",
            material="grid",
            pos=(0, 0, 0),
            size=(half_size, half_size, 1),
            contype=0,
            conaffinity=0,
        )
        self.ground_geoms = [self.ground_geom]