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Update humanoid_running.py

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disable sleep and use GUI mode by default
This commit is contained in:
erwincoumans
2017-05-11 22:26:49 -07:00
committed by GitHub
parent d4ec33d8e4
commit 0e12277cfb
1 changed files with 2 additions and 2 deletions
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examples/pybullet/tensorflow/humanoid_running.py
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@@ -4,7 +4,7 @@ import numpy as np
import pybullet as p import pybullet as p
import time import time
p.connect(p.SHARED_MEMORY) #GUI is slower, but shows the running gait p.connect(p.GUI) #GUI is slower, but shows the running gait
p.setGravity(0,0,-9.8) p.setGravity(0,0,-9.8)
p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2) p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2)
#this mp4 recording requires ffmpeg installed #this mp4 recording requires ffmpeg installed
@@ -186,7 +186,7 @@ def demo_run():
p.setJointMotorControlArray(human2, motors,controlMode=p.TORQUE_CONTROL, forces=forces) p.setJointMotorControlArray(human2, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
p.stepSimulation() p.stepSimulation()
time.sleep(0.01) #time.sleep(0.01)
distance=5 distance=5
yaw = 0 yaw = 0
humanPos, humanOrn = p.getBasePositionAndOrientation(human) humanPos, humanOrn = p.getBasePositionAndOrientation(human)