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enable planar reflection in MinitaurGymEnv

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enable follow cam in other Gym locomotion environments
add testing assets for multi-material obj files -> sdf conversion.
Also use ER_NO_SEGMENTATION_MASK flag for TinyRenderer/EGL plugin renderer
This commit is contained in:
erwincoumans
2018-10-14 15:10:19 -07:00
parent c1e20c448f
commit b5e475aec3
16 changed files with 544 additions and 6 deletions
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22
data/threecubes/threecubes_org.py Normal file
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import pybullet as p
useEGL = False
useEGLGUI = False
if useEGL:
if useEGLGUI:
p.connect(p.GUI, "window_backend=2")
else:
p.connect(p.DIRECT)
p.loadPlugin("eglRendererPlugin")
else:
p.connect(p.GUI)
p.loadURDF("threecubes.urdf", flags=p.URDF_USE_MATERIAL_COLORS_FROM_MTL)
while (1):
viewmat= [0.642787516117096, -0.4393851161003113, 0.6275069713592529, 0.0, 0.766044557094574, 0.36868777871131897, -0.5265407562255859, 0.0, -0.0, 0.8191521167755127, 0.5735764503479004, 0.0, 2.384185791015625e-07, 2.384185791015625e-07, -5.000000476837158, 1.0]
projmat= [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
p.getCameraImage(64,64, viewMatrix=viewmat, projectionMatrix=projmat, flags=p.ER_NO_SEGMENTATION_MASK )
p.stepSimulation()