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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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2
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py
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@@ -271,7 +271,7 @@ class MinitaurGymEnv(gym.Env):
"%s/plane.urdf" % self._urdf_root)
if (self._reflection):
self._pybullet_client.changeVisualShape(self._ground_id,-1,rgbaColor=[1,1,1,0.8])
#self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION,1)
self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION,self._ground_id)
self._pybullet_client.setGravity(0, 0, -10)
acc_motor = self._accurate_motor_model_enabled
motor_protect = self._motor_overheat_protection