add kinematic version that also updates the base position/orientation from the base

examples/pybullet/gym/pybullet_envs/deep_mimic/env/testLaikago.py

@@ -7,6 +7,7 @@ import time
 import motion_capture_data
 import quadrupedPoseInterpolator
 
+useKinematic = False
 useConstraints = False
 
 p = bullet_client.BulletClient(connection_mode=p1.GUI)
@@ -168,6 +169,17 @@ while t < 10. * cycleTime:
   p.changeConstraint(cid, maxForce=maxUpForce)
 
 
+  if useKinematic:
+    basePos = startPos
+    basePos =  [float(-jointsStr[0]),-float(jointsStr[1]),float(jointsStr[2])]
+    baseOrn = [float(jointsStr[4]),float(jointsStr[5]),float(jointsStr[6]), float(jointsStr[3])]
+    p.resetBasePositionAndOrientation(quadruped, basePos,baseOrn)
+    
+    for j in range(12):
+        #skip the base positional dofs
+        targetPos = float(jointsStr[j + 7])
+        p.resetJointState(quadruped,jointIds[j],jointDirections[j] * targetPos + jointOffsets[j])
+  else:
 	  if useConstraints:
 	    for j in range(12):
 	      #skip the base positional dofs