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enable self-collision for deep_mimic pybullet_envs and make it easier to try it out:

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python3 -m pybullet_envs.deep_mimic.testrl
This commit is contained in:
Erwin Coumans
2019-11-30 13:19:28 -08:00
parent cf67e7af0a
commit 7f9f514b7e
3 changed files with 10 additions and 9 deletions
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12
examples/pybullet/examples/humanoidMotionCapture.py
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@@ -84,32 +84,32 @@ p.addUserDebugText("Kinematic",
p.addUserDebugText("Stable PD (Py)",
[startLocations[4][0], startLocations[4][1] + 1, startLocations[4][2]],
[0, 0, 0])
flags=p.URDF_MAINTAIN_LINK_ORDER+p.URDF_USE_SELF_COLLISION
humanoid = p.loadURDF("humanoid/humanoid.urdf",
startLocations[0],
globalScaling=0.25,
useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER)
flags=flags)
humanoid2 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[1],
globalScaling=0.25,
useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER)
flags=flags)
humanoid3 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[2],
globalScaling=0.25,
useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER)
flags=flags)
humanoid4 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[3],
globalScaling=0.25,
useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER)
flags=flags)
humanoid5 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[4],
globalScaling=0.25,
useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER)
flags=flags)
humanoid_fix = p.createConstraint(humanoid, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
startLocations[0], [0, 0, 0, 1])