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tuned the benchmark a little bit, start with the humanoid on the floor

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Erwin Coumans
2017-05-05 18:05:36 -07:00
parent 7003401605
commit 6767b986d0
1 changed files with 12 additions and 3 deletions
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15
examples/pybullet/examples/humanoid_benchmark.py
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@@ -6,12 +6,21 @@ p.setPhysicsEngineParameter(numSolverIterations=5)
p.setPhysicsEngineParameter(fixedTimeStep=1./240.)
p.setPhysicsEngineParameter(numSubSteps=1)
p.loadMJCF("mjcf/humanoid_symmetric.xml")
objects = p.loadMJCF("mjcf/humanoid_symmetric.xml")
ob = objects[0]
p.resetBasePositionAndOrientation(ob,[0.000000,0.000000,0.000000],[0.000000,0.000000,0.000000,1.000000])
ob = objects[1]
p.resetBasePositionAndOrientation(ob,[0.789351,0.962124,0.113124],[0.710965,0.218117,0.519402,-0.420923])
jointPositions=[ -0.200226, 0.123925, 0.000000, -0.224016, 0.000000, -0.022247, 0.099119, -0.041829, 0.000000, -0.344372, 0.000000, 0.000000, 0.090687, -0.578698, 0.044461, 0.000000, -0.185004, 0.000000, 0.000000, 0.039517, -0.131217, 0.000000, 0.083382, 0.000000, -0.165303, -0.140802, 0.000000, -0.007374, 0.000000 ]
for jointIndex in range (p.getNumJoints(ob)):
p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
#first let the humanoid fall
p.setRealTimeSimulation(1)
time.sleep(3)
#p.setRealTimeSimulation(1)
#time.sleep(5)
p.setRealTimeSimulation(0)
#p.saveWorld("lyiing.py")
#now do a benchmark
print("Starting benchmark")