From c99a446ba04940345322a4c84e945781160f8a20 Mon Sep 17 00:00:00 2001 From: Bart Moyaers Date: Mon, 24 Jun 2019 13:32:59 +0200 Subject: [PATCH] faster thrown object removal --- .../deep_mimic/env/pybullet_deep_mimic_env.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py index b0be7b03b..c5e5bcde9 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py +++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py @@ -365,7 +365,12 @@ class PyBulletDeepMimicEnv(Env): self._humanoid.thrown_body_ids.append(body) def removeThrownObjects(self): + # Disable gui so that object removal does not cause stutter + self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_RENDERING,0) + for objectId in self._humanoid.thrown_body_ids: self._pybullet_client.removeBody(objectId) - self._humanoid.thrown_body_ids = [] \ No newline at end of file + self._humanoid.thrown_body_ids = [] + + self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_RENDERING,1) \ No newline at end of file