more work on pybullet_envs.deep_mimic.

allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -106,6 +106,7 @@ btMultiBody::btMultiBody(int n_links,
 	  m_fixedBase(fixedBase),
 	  m_awake(true),
 	  m_canSleep(canSleep),
+	  m_canWakeup(true),
 	  m_sleepTimer(0),
 	  m_userObjectPointer(0),
 	  m_userIndex2(-1),
@@ -1882,6 +1883,8 @@ void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep)
 		return;
 	}
 
+	
+
 	// motion is computed as omega^2 + v^2 + (sum of squares of joint velocities)
 	btScalar motion = 0;
 	{
@@ -1900,8 +1903,11 @@ void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep)
 	else
 	{
 		m_sleepTimer = 0;
-		if (!m_awake)
-			wakeUp();
+		if (m_canWakeup)
+		{
+			if (!m_awake)
+				wakeUp();
+		}
 	}
 }
 

src/BulletDynamics/Featherstone/btMultiBody.h

@@ -454,7 +454,10 @@ public:
 	//
 	void setCanSleep(bool canSleep)
 	{
-		m_canSleep = canSleep;
+		if (m_canWakeup)
+		{
+			m_canSleep = canSleep;
+		}
 	}
 
 	bool getCanSleep() const
@@ -462,6 +465,15 @@ public:
 		return m_canSleep;
 	}
 
+	bool getCanWakeup() const
+	{
+		return m_canWakeup;
+	}
+	
+	void setCanWakeup(bool canWakeup) 
+	{
+		m_canWakeup = canWakeup;
+	}
 	bool isAwake() const { return m_awake; }
 	void wakeUp();
 	void goToSleep();
@@ -696,6 +708,7 @@ private:
 	// Sleep parameters.
 	bool m_awake;
 	bool m_canSleep;
+	bool m_canWakeup;
 	btScalar m_sleepTimer;
 
 	void *m_userObjectPointer;