enable stable PD plugin in premake4.lua PyBullet

add a normalize in the setRotation axis/angle to be sure.
Add more code from the DeepMimic project, training doesn't work yet.

examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py

@@ -0,0 +1,65 @@
+import json
+from learning.rl_world import RLWorld
+from learning.ppo_agent import PPOAgent
+
+import pybullet_data
+from pybullet_utils.arg_parser import ArgParser
+from pybullet_utils.logger import Logger
+from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env import PyBulletDeepMimicEnv
+import sys
+import random
+
+def build_arg_parser(args):
+    arg_parser = ArgParser()
+    arg_parser.load_args(args)
+
+    arg_file = arg_parser.parse_string('arg_file', '')
+    if (arg_file != ''):
+        path = pybullet_data.getDataPath()+"/args/"+arg_file
+        succ = arg_parser.load_file(path)
+        Logger.print2(arg_file)
+        assert succ, Logger.print2('Failed to load args from: ' + arg_file)
+    return arg_parser
+
+args = sys.argv[1:]
+arg_parser = build_arg_parser(args)
+
+render=True
+env = PyBulletDeepMimicEnv (args,render)
+ 
+world = RLWorld(env, arg_parser)
+
+motion_file = arg_parser.parse_string("motion_file")
+print("motion_file=",motion_file)
+bodies = arg_parser.parse_ints("fall_contact_bodies")
+print("bodies=",bodies)
+int_output_path = arg_parser.parse_string("int_output_path")
+print("int_output_path=",int_output_path)
+
+agent_files = arg_parser.parse_string("agent_files")
+
+AGENT_TYPE_KEY = "AgentType"
+
+print("agent_file=",agent_files)
+with open(agent_files) as data_file:
+    json_data = json.load(data_file)
+    print("json_data=",json_data)
+    assert AGENT_TYPE_KEY in json_data
+    agent_type = json_data[AGENT_TYPE_KEY]
+    print("agent_type=",agent_type)
+    agent = PPOAgent(world, id, json_data)
+    
+    agent.set_enable_training(True)
+    world.reset()
+
+    while (world.env._pybullet_client.isConnected()):
+
+      timeStep = 1./600.
+      world.update(timeStep)
+      reward = world.env.calc_reward(agent_id=0)
+      #print("reward=",reward)
+      
+      end_episode = world.env.is_episode_end()
+      if (end_episode):
+        world.end_episode()
+        world.reset()