add deepmimic args file (for testing)

implement deepmimic reward function (only joint angles/velocities for now)
fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp

examples/pybullet/gym/pybullet_utils/examples/testargs.py

@@ -0,0 +1,26 @@
+import pybullet_data
+from pybullet_utils.arg_parser import	ArgParser
+from pybullet_utils.logger import	Logger
+import sys
+
+def	build_arg_parser(args):
+		arg_parser = ArgParser()
+		arg_parser.load_args(args)
+
+		arg_file = arg_parser.parse_string('arg_file', '')
+		if (arg_file !=	''):
+				path = pybullet_data.getDataPath()+"/args/"+arg_file
+				succ = arg_parser.load_file(path)
+				Logger.print2(arg_file)
+				assert succ, Logger.print2('Failed to	load args	from:	'	+	arg_file)
+
+		return arg_parser
+
+args = sys.argv[1:]
+arg_parser = build_arg_parser(args)
+motion_file	=	arg_parser.parse_string("motion_file")
+print("motion_file=",motion_file)
+bodies = arg_parser.parse_ints("fall_contact_bodies")
+print("bodies=",bodies)
+int_output_path = arg_parser.parse_string("int_output_path")
+print("int_output_path=",int_output_path)