From 7b072f1f284f0eb1be66b9765583a4a592c93116 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 5 Dec 2019 08:05:32 -0800 Subject: [PATCH 1/2] fix clang warning unction 'btSoftBody::checkDeformableFaceContact' has a definition with different parameter names --- src/BulletSoftBody/btSoftBody.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index c3262f02c..2b048c111 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -1122,7 +1122,7 @@ public: void initializeFaceTree(); btVector3 evaluateCom() const; bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; - bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, Face& x, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, Face& f, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); From 146a751eb41e59c38a6fd486743f6c22cb3a77c0 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 5 Dec 2019 08:34:34 -0800 Subject: [PATCH 2/2] enable intermediate log for walk, so you can restart if stuck in local maximum --- .../gym/pybullet_data/args/train_humanoid3d_walk_args.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt b/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt index 54f544971..d492780fb 100644 --- a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt +++ b/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt @@ -29,5 +29,5 @@ #--train_agents false --output_path output -#--int_output_path output/intermediate -#--model_files data/policies/humanoid3d/agent0_model.ckpt \ No newline at end of file +--int_output_path output/intermediate +#--model_files data/policies/humanoid3d/agent0_model.ckpt