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Code Issues Releases Wiki Activity

pass force as array instead of value

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erwincoumans 2019-01-23 17:24:10 -08:00
parent 301b3a0451
commit 03549ca7c6
1 changed files with 12 additions and 12 deletions
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24
examples/pybullet/gym/pybullet_envs/deep_mimic/humanoid.py
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@ -438,18 +438,18 @@ class Humanoid(object):
bc.resetJointStateMultiDof(humanoid,leftShoulder, pose._leftShoulderRot)
bc.resetJointStateMultiDof(humanoid,leftElbow, pose._leftElbowRot)
bc.setJointMotorControlMultiDof(humanoid,chest,controlMode, targetPosition=pose._chestRot,positionGain=kp, force=200)
bc.setJointMotorControlMultiDof(humanoid,neck,controlMode,targetPosition=pose._neckRot,positionGain=kp, force=50)
bc.setJointMotorControlMultiDof(humanoid,rightHip,controlMode,targetPosition=pose._rightHipRot,positionGain=kp, force=200)
bc.setJointMotorControlMultiDof(humanoid,rightKnee,controlMode,targetPosition=pose._rightKneeRot,positionGain=kp, force=150)
bc.setJointMotorControlMultiDof(humanoid,rightAnkle,controlMode,targetPosition=pose._rightAnkleRot,positionGain=kp, force=90)
bc.setJointMotorControlMultiDof(humanoid,rightShoulder,controlMode,targetPosition=pose._rightShoulderRot,positionGain=kp, force=100)
bc.setJointMotorControlMultiDof(humanoid,rightElbow, controlMode,targetPosition=pose._rightElbowRot,positionGain=kp, force=60)
bc.setJointMotorControlMultiDof(humanoid,leftHip, controlMode,targetPosition=pose._leftHipRot,positionGain=kp, force=200)
bc.setJointMotorControlMultiDof(humanoid,leftKnee, controlMode,targetPosition=pose._leftKneeRot,positionGain=kp, force=150)
bc.setJointMotorControlMultiDof(humanoid,leftAnkle, controlMode,targetPosition=pose._leftAnkleRot,positionGain=kp, force=90)
bc.setJointMotorControlMultiDof(humanoid,leftShoulder, controlMode,targetPosition=pose._leftShoulderRot,positionGain=kp, force=100)
bc.setJointMotorControlMultiDof(humanoid,leftElbow, controlMode,targetPosition=pose._leftElbowRot,positionGain=kp, force=60)
bc.setJointMotorControlMultiDof(humanoid,chest,controlMode, targetPosition=pose._chestRot,positionGain=kp, force=[200])
bc.setJointMotorControlMultiDof(humanoid,neck,controlMode,targetPosition=pose._neckRot,positionGain=kp, force=[50])
bc.setJointMotorControlMultiDof(humanoid,rightHip,controlMode,targetPosition=pose._rightHipRot,positionGain=kp, force=[200])
bc.setJointMotorControlMultiDof(humanoid,rightKnee,controlMode,targetPosition=pose._rightKneeRot,positionGain=kp, force=[150])
bc.setJointMotorControlMultiDof(humanoid,rightAnkle,controlMode,targetPosition=pose._rightAnkleRot,positionGain=kp, force=[90])
bc.setJointMotorControlMultiDof(humanoid,rightShoulder,controlMode,targetPosition=pose._rightShoulderRot,positionGain=kp, force=[100])
bc.setJointMotorControlMultiDof(humanoid,rightElbow, controlMode,targetPosition=pose._rightElbowRot,positionGain=kp, force=[60])
bc.setJointMotorControlMultiDof(humanoid,leftHip, controlMode,targetPosition=pose._leftHipRot,positionGain=kp, force=[200])
bc.setJointMotorControlMultiDof(humanoid,leftKnee, controlMode,targetPosition=pose._leftKneeRot,positionGain=kp, force=[150])
bc.setJointMotorControlMultiDof(humanoid,leftAnkle, controlMode,targetPosition=pose._leftAnkleRot,positionGain=kp, force=[90])
bc.setJointMotorControlMultiDof(humanoid,leftShoulder, controlMode,targetPosition=pose._leftShoulderRot,positionGain=kp, force=[100])
bc.setJointMotorControlMultiDof(humanoid,leftElbow, controlMode,targetPosition=pose._leftElbowRot,positionGain=kp, force=[60])
#debug space
#if (False):