From 583b23ea40aa23d557fa4c2f587c8ea0e56b2aef Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Wed, 24 Jan 2018 18:02:24 -0800
Subject: [PATCH] PyBullet Humanoid Flagrun Harder: disable collision on target
 red sphere

---
 .../gym/pybullet_data/sphere2red_nocol.urdf   | 21 +++++++++++++++++++
 .../gym/pybullet_envs/robot_locomotors.py     |  2 +-
 2 files changed, 22 insertions(+), 1 deletion(-)
 create mode 100644 examples/pybullet/gym/pybullet_data/sphere2red_nocol.urdf

diff --git a/examples/pybullet/gym/pybullet_data/sphere2red_nocol.urdf b/examples/pybullet/gym/pybullet_data/sphere2red_nocol.urdf
new file mode 100644
index 000000000..f5db0a283
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/sphere2red_nocol.urdf
@@ -0,0 +1,21 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+      </geometry>
+      <material name="red">
+        <color rgba="1 0.2 0.2 1"/>
+        <specular rgb="1 1 1"/>
+      </material>
+    </visual>
+  </link>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_envs/robot_locomotors.py b/examples/pybullet/gym/pybullet_envs/robot_locomotors.py
index c8528eb6e..2dbb61810 100644
--- a/examples/pybullet/gym/pybullet_envs/robot_locomotors.py
+++ b/examples/pybullet/gym/pybullet_envs/robot_locomotors.py
@@ -202,7 +202,7 @@ def get_cube(x, y, z):
 
 
 def get_sphere(x, y, z):
-	body = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"sphere2red.urdf"), x, y, z)
+	body = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"sphere2red_nocol.urdf"), x, y, z)
 	part_name, _ = p.getBodyInfo(body, 0)
 	part_name = part_name.decode("utf8")
 	bodies = [body]