tweak premake4 default batch file.

add manual control for joint angles in XArm6 example.

examples/pybullet/gym/pybullet_envs/examples/xarm.py

@@ -1,7 +1,7 @@
 import pybullet as p
 import pybullet_data as pd
 import time
-p.connect(p.GUI)
+p.connect(p.GUI)#, options="--background_color_red=1.0 --background_color_blue=1.0 --background_color_green=1.0")
 p.setAdditionalSearchPath(pd.getDataPath())
 
 
@@ -14,7 +14,30 @@ table_pos = [0,0,-0.625]
 table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase)
 xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase)
 
+jointIds = []
+paramIds = []
+
+for j in range(p.getNumJoints(xarm)):
+  p.changeDynamics(xarm, j, linearDamping=0, angularDamping=0)
+  info = p.getJointInfo(xarm, j)
+  #print(info)
+  jointName = info[1]
+  jointType = info[2]
+  if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
+    jointIds.append(j)
+    paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4, 0))
+  
+skip_cam_frames = 10  
+
 while (1):
 	p.stepSimulation()
+	for i in range(len(paramIds)):
+		c = paramIds[i]
+		targetPos = p.readUserDebugParameter(c)
+		p.setJointMotorControl2(xarm, jointIds[i], p.POSITION_CONTROL, targetPos, force=5 * 240.)
+	skip_cam_frames -= 1
+	if (skip_cam_frames<0):
+		p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL )
+		skip_cam_frames = 10
 	time.sleep(1./240.)