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fix MJCF loading (use self-collision)

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This commit is contained in:
Erwin Coumans
2018-01-20 12:07:35 -08:00
parent 1661f25fd8
commit 69007dcc61
2 changed files with 3 additions and 6 deletions
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7
examples/pybullet/gym/pybullet_envs/robot_bases.py
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@@ -103,7 +103,7 @@ class MJCFBasedRobot(XmlBasedRobot):
Base class for mujoco .xml based agents.
"""
def __init__(self, model_xml, robot_name, action_dim, obs_dim, self_collision=False):
def __init__(self, model_xml, robot_name, action_dim, obs_dim, self_collision=True):
XmlBasedRobot.__init__(self, robot_name, action_dim, obs_dim, self_collision)
self.model_xml = model_xml
self.doneLoading=0
@@ -114,12 +114,9 @@ class MJCFBasedRobot(XmlBasedRobot):
self.ordered_joints = []
self.doneLoading=1
if self.self_collision:
print("self_collision enabled loadMJCF")
#self.objects = p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
self.objects = p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml))
self.objects = p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION|p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.objects )
else:
print("no self_collision enabled loadMJCF")
self.objects = p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml))
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.objects)
self.robot_specific_reset()