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PyBullet TinyRenderer, fix cylinder (don't add caps like a capsule), also convert colors stored in visual shapes, if needed.

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erwincoumans
2018-05-10 18:37:48 -07:00
parent e488603603
commit 06a23ecd6d
2 changed files with 27 additions and 9 deletions
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examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py
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@@ -32,6 +32,7 @@ jointPivotXYZInChild = [0,0,0]
jointPivotRPYInChild = [0,0,0]
newjoint = ed0.joinUrdf(ed1, parentLinkIndex , jointPivotXYZInParent, jointPivotRPYInParent, jointPivotXYZInChild, jointPivotRPYInChild, p0._client, p1._client)
newjoint.joint_type = p0.JOINT_FIXED
ed0.saveUrdf("combined.urdf")
@@ -47,5 +48,5 @@ ed0.createMultiBody([0,0,0],orn, pgui._client)
pgui.setRealTimeSimulation(1)
while (pgui.isConnected()):
pgui.getCameraImage(320,200)
pgui.getCameraImage(320,200, renderer=pgui.ER_BULLET_HARDWARE_OPENGL)
time.sleep(1./240.)