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Merge pull request #2299 from erwincoumans/master

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Tweak Mini-Cheetah
This commit is contained in:
erwincoumans
2019-06-19 12:46:14 -07:00
committed by GitHub
parent 9e28737b57 240e839600
commit 681a730e05
5 changed files with 16 additions and 7 deletions
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5
examples/BlockSolver/RigidBodyBoxes.cpp
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@@ -8,7 +8,7 @@ class RigidBodyBoxes : public CommonRigidBodyBase
{ {
int m_option; int m_option;
int m_numIterations; int m_numIterations;
int m_numBoxes = 4; int m_numBoxes;
btAlignedObjectArray<btRigidBody*> boxes; btAlignedObjectArray<btRigidBody*> boxes;
static btScalar numSolverIterations; static btScalar numSolverIterations;
@@ -38,7 +38,8 @@ btScalar RigidBodyBoxes::numSolverIterations = 50;
RigidBodyBoxes::RigidBodyBoxes(GUIHelperInterface* helper, int option) RigidBodyBoxes::RigidBodyBoxes(GUIHelperInterface* helper, int option)
: CommonRigidBodyBase(helper), : CommonRigidBodyBase(helper),
m_option(option), m_option(option),
m_numIterations(numSolverIterations) m_numIterations(numSolverIterations),
m_numBoxes(4)
{ {
m_guiHelper->setUpAxis(2); m_guiHelper->setUpAxis(2);
} }

4
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -257,7 +257,11 @@ void MyKeyboardCallback(int key, int state)
} }
else else
{ {
#ifdef _WIN32
b3ChromeUtilsStopTimingsAndWriteJsonFile("timings"); b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
#else
b3ChromeUtilsStopTimingsAndWriteJsonFile("/tmp/timings");
#endif
} }
} }

5
examples/SharedMemory/GraphicsServerExample.cpp
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@@ -10,6 +10,7 @@
#include "Bullet3Common/b3AlignedObjectArray.h" #include "Bullet3Common/b3AlignedObjectArray.h"
#include "GraphicsSharedMemoryBlock.h" #include "GraphicsSharedMemoryBlock.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h" #include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryPublic.h"
#define MAX_GRAPHICS_SHARED_MEMORY_BLOCKS 1 #define MAX_GRAPHICS_SHARED_MEMORY_BLOCKS 1
@@ -107,12 +108,16 @@ public:
break; break;
} }
case GFX_CMD_SET_VISUALIZER_FLAG: case GFX_CMD_SET_VISUALIZER_FLAG:
{
if (clientCmd.m_visualizerFlagCommand.m_visualizerFlag!=COV_ENABLE_RENDERING)
{ {
//printf("clientCmd.m_visualizerFlag.m_visualizerFlag: %d, clientCmd.m_visualizerFlag.m_enable %d\n", //printf("clientCmd.m_visualizerFlag.m_visualizerFlag: %d, clientCmd.m_visualizerFlag.m_enable %d\n",
// clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable); // clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable);
this->m_guiHelper->setVisualizerFlag(clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable); this->m_guiHelper->setVisualizerFlag(clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable);
}
break; break;
} }
case GFX_CMD_UPLOAD_DATA: case GFX_CMD_UPLOAD_DATA:

1
examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj
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@@ -1,6 +1,5 @@
# Blender v2.76 (sub 0) OBJ File: '' # Blender v2.76 (sub 0) OBJ File: ''
# www.blender.org # www.blender.org
mtllib l_link_mini.mtl
o lower_link o lower_link
v -0.007927 -0.006511 0.072209 v -0.007927 -0.006511 0.072209
v -0.007918 -0.006511 0.072209 v -0.007918 -0.006511 0.072209

2
examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf
View File

@@ -4,7 +4,7 @@
<inertial> <inertial>
<mass value="3.3"/> <mass value="3.3"/>
<origin xyz="0.0 0.0 0.0"/> <origin xyz="0.0 0.0 0.0"/>
<inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.362030" iyz="0" izz="0.042673"/> <inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.036203" iyz="0" izz="0.042673"/>
</inertial> </inertial>
<visual> <visual>
<geometry> <geometry>