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revert GJK change yet again, some degenerate case / regression

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Erwin Coumans
2018-06-12 19:52:38 -07:00
parent 08d84d6ce3
commit e24da97140
2 changed files with 187 additions and 3 deletions
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examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py
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@@ -271,7 +271,7 @@ class MinitaurGymEnv(gym.Env):
"%s/plane.urdf" % self._urdf_root)
if (self._reflection):
self._pybullet_client.changeVisualShape(self._ground_id,-1,rgbaColor=[1,1,1,0.8])
self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION,0)
#self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION,1)
self._pybullet_client.setGravity(0, 0, -10)
acc_motor = self._accurate_motor_model_enabled
motor_protect = self._motor_overheat_protection