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Merge branch 'master' into merge_upstream

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Bart Moyaers
2020-01-15 13:24:59 +01:00
parent ee9f25405e 6428ed5e5f
commit ef20f9e62c
370 changed files with 496645 additions and 22916 deletions
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10
examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py vendored
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@@ -25,12 +25,12 @@ class HumanoidStablePD(object):
self._mocap_data = mocap_data
self._arg_parser = arg_parser
print("LOADING humanoid!")
flags=self._pybullet_client.URDF_MAINTAIN_LINK_ORDER+self._pybullet_client.URDF_USE_SELF_COLLISION+self._pybullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
self._sim_model = self._pybullet_client.loadURDF(
"humanoid/humanoid.urdf", [0, 0.889540259, 0],
globalScaling=0.25,
useFixedBase=useFixedBase,
flags=self._pybullet_client.URDF_MAINTAIN_LINK_ORDER)
flags=flags)
#self._pybullet_client.setCollisionFilterGroupMask(self._sim_model,-1,collisionFilterGroup=0,collisionFilterMask=0)
#for j in range (self._pybullet_client.getNumJoints(self._sim_model)):
@@ -347,7 +347,6 @@ class HumanoidStablePD(object):
#static char* kwlist[] = { "bodyUniqueId",
#"jointIndices",
#"controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "maxVelocities", "physicsClientId", NULL };
self._pybullet_client.setJointMotorControlMultiDofArray(self._sim_model,
indices,
self._pybullet_client.STABLE_PD_CONTROL,
@@ -811,7 +810,10 @@ class HumanoidStablePD(object):
rootPosSim, rootOrnSim = self._pybullet_client.getBasePositionAndOrientation(self._sim_model)
rootPosKin, rootOrnKin = self._pybullet_client.getBasePositionAndOrientation(self._kin_model)
linVelSim, angVelSim = self._pybullet_client.getBaseVelocity(self._sim_model)
linVelKin, angVelKin = self._pybullet_client.getBaseVelocity(self._kin_model)
#don't read the velocities from the kinematic model (they are zero), use the pose interpolator velocity
#see also issue https://github.com/bulletphysics/bullet3/issues/2401
linVelKin = self._poseInterpolator._baseLinVel
angVelKin = self._poseInterpolator._baseAngVel
root_rot_err = self.calcRootRotDiff(rootOrnSim, rootOrnKin)
pose_err += root_rot_w * root_rot_err