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enable planar reflection in minitaur_gym_env.py and locomotion scenes

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erwincoumans
2018-04-11 08:50:29 -07:00
parent 1f756cfb8d
commit c2869e0a3c
5 changed files with 40 additions and 1053 deletions
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examples/pybullet/gym/pybullet_envs/scene_stadium.py
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@@ -32,6 +32,9 @@ class StadiumScene(Scene):
#
for i in self.ground_plane_mjcf:
p.changeDynamics(i,-1,lateralFriction=0.8, restitution=0.5)
p.changeVisualShape(i,-1,rgbaColor=[1,1,1,0.8])
p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION,1)
# for j in range(p.getNumJoints(i)):
# p.changeDynamics(i,j,lateralFriction=0)
#despite the name (stadium_no_collision), it DID have collision, so don't add duplicate ground