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allow pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt to perform a backflip. Can only backflip twice, then drops on ground.

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this deepmimic is still very slow, due to slow mass matrix/inverse dynamics computation. once spherical motor drive is enabled, it should be fast(er)
move pd_controller_stable to pybullet_utils for easier re-use
add plane_transparent.urdf to pybullet_data
allow spacebar in keyboardEvents (Windows for now)
This commit is contained in:
erwincoumans
2019-02-10 20:56:31 -08:00
parent 28c9ea3aad
commit 9bddca873c
17 changed files with 551 additions and 224 deletions
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4
examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf
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@@ -2,8 +2,8 @@
<link name="base" >
<inertial>
<origin rpy = "0 0 0" xyz = "0 0 0" />
<mass value = "0.00100" />
<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
<mass value = "0.0001" />
<inertia ixx = "0.0001" ixy = "0" ixz = "0" iyy = "0.0001" iyz = "0" izz = "0.0001" />
</inertial>
</link>
<link name="root" >