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leave m_useGlobalVelocities to false, until enabled, for backward compatibility

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use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
This commit is contained in:
erwincoumans
2018-01-10 11:16:50 -08:00
parent c4b1b84687
commit 22b4809891
11 changed files with 61 additions and 47 deletions
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10
examples/pybullet/gym/pybullet_envs/robot_bases.py
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@@ -55,7 +55,9 @@ class MJCFBasedRobot:
parts[part_name] = BodyPart(part_name, bodies, i, -1)
for j in range(p.getNumJoints(bodies[i])):
p.setJointMotorControl2(bodies[i],j,p.POSITION_CONTROL,positionGain=0.1,velocityGain=0.1,force=0)
_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
jointInfo = p.getJointInfo(bodies[i], j)
joint_name=jointInfo[1]
part_name=jointInfo[12]
joint_name = joint_name.decode("utf8")
part_name = part_name.decode("utf8")
@@ -172,7 +174,11 @@ class Joint:
self.bodyIndex = bodyIndex
self.jointIndex = jointIndex
self.joint_name = joint_name
_,_,_,_,_,_,_,_,self.lowerLimit, self.upperLimit,_,_,_ = p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
jointInfo = p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
self.lowerLimit = jointInfo[8]
self.upperLimit = jointInfo[9]
self.power_coeff = 0
def set_state(self, x, vx):