Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add implicit plane_implicit.urdf and use it in humanoid_running.py (numpy version)

Browse Source
This commit is contained in:
erwincoumans
2018-01-13 13:47:28 -08:00
parent e961800278
commit ed890f23e6
2 changed files with 37 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/pybullet/numpy/humanoid_running.py
View File

@@ -21,7 +21,7 @@ if (cid<0):
#p.setGravity(1,2,-9.8)
#p.setDefaultContactERP (0.4)
#p.setGravity(0,0,-9.8)
p.setGravity(0,0,-9.8)
#numSubSteps=4 and fixedTimeStep=1.0/60. is an effective internal fixed step of 1./240
#recommended to not go below 50 solver iterations
p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=550, numSubSteps=8)
@@ -29,7 +29,7 @@ p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=550, numS
#mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
#p.loadSDF("stadium.sdf")
p.loadURDF("plane.urdf")
p.loadURDF("plane_implicit.urdf")
objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
human = objs[0]