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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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9
examples/pybullet/pybullet.c
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@@ -9286,7 +9286,7 @@ static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args
int physicsClientId = 0;
int hasQuatStart = 0;
int hasQuatEnd = 0;
static char* kwlist[] = { "quaternionStart", "quaternionEnd", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatStartObj, &quatEndObj, &physicsClientId))
{
@@ -10711,11 +10711,11 @@ static PyMethodDef SpamMethods[] = {
{NULL, NULL, 0, NULL} /* Sentinel */
};
///copied from CommonWindowInterface.h
///copied from CommonCallbacks.h
enum
{
B3G_ESCAPE = 27,
B3G_SPACE = 32,
B3G_F1 = 0xff00,
B3G_F2,
B3G_F3,
@@ -10745,7 +10745,7 @@ enum
B3G_SHIFT,
B3G_CONTROL,
B3G_ALT,
B3G_RETURN
B3G_RETURN,
};
#if PY_MAJOR_VERSION >= 3
@@ -10959,6 +10959,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "B3G_CONTROL", B3G_CONTROL);
PyModule_AddIntConstant(m, "B3G_ALT", B3G_ALT);
PyModule_AddIntConstant(m, "B3G_RETURN", B3G_RETURN);
PyModule_AddIntConstant(m, "B3G_SPACE", B3G_SPACE);
PyModule_AddIntConstant(m, "GEOM_SPHERE", GEOM_SPHERE);
PyModule_AddIntConstant(m, "GEOM_BOX", GEOM_BOX);