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Merge remote-tracking branch 'bp/master'

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Erwin Coumans
2017-05-11 23:00:00 -07:00
parent b22ffcf61c ac7518d24b
commit 8085068603
1 changed files with 2 additions and 6 deletions
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8
examples/pybullet/tensorflow/humanoid_running.py
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@@ -4,15 +4,11 @@ import numpy as np
import pybullet as p import pybullet as p
import time import time
p.connect(p.SHARED_MEMORY) #GUI is slower, but shows the running gait p.connect(p.GUI) #GUI is slower, but shows the running gait
p.setGravity(0,0,-9.8) p.setGravity(0,0,-9.8)
p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2) p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2)
#this mp4 recording requires ffmpeg installed #this mp4 recording requires ffmpeg installed
#mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4") #mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
# numSubSteps:
# 1 falls often at 300 fps
# 2 works fine at 300 fps
# 11 not that slower at 180 fps
plane, human1 = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS) plane, human1 = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
@@ -186,7 +182,7 @@ def demo_run():
p.setJointMotorControlArray(human2, motors,controlMode=p.TORQUE_CONTROL, forces=forces) p.setJointMotorControlArray(human2, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
p.stepSimulation() p.stepSimulation()
time.sleep(0.01) #time.sleep(0.01)
distance=5 distance=5
yaw = 0 yaw = 0
humanPos, humanOrn = p.getBasePositionAndOrientation(human) humanPos, humanOrn = p.getBasePositionAndOrientation(human)