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use pybullet.URDF_GOOGLEY_UNDEFINED_COLORS for standard gym envs

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This commit is contained in:
Erwin Coumans 2020-06-01 23:38:59 -07:00
parent 55fd613352
commit d1ded7d704
1 changed files with 5 additions and 4 deletions
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9
examples/pybullet/gym/pybullet_envs/robot_bases.py
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@ -130,12 +130,13 @@ class MJCFBasedRobot(XmlBasedRobot):
self.objects = self._p.loadMJCF(os.path.join(pybullet_data.getDataPath(), "mjcf",
self.model_xml),
flags=pybullet.URDF_USE_SELF_COLLISION |
pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS |
pybullet.URDF_GOOGLEY_UNDEFINED_COLORS )
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
self._p, self.objects)
else:
self.objects = self._p.loadMJCF(
os.path.join(pybullet_data.getDataPath(), "mjcf", self.model_xml))
os.path.join(pybullet_data.getDataPath(), "mjcf", self.model_xml, flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS))
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
self._p, self.objects)
self.robot_specific_reset(self._p)
@ -183,14 +184,14 @@ class URDFBasedRobot(XmlBasedRobot):
basePosition=self.basePosition,
baseOrientation=self.baseOrientation,
useFixedBase=self.fixed_base,
flags=pybullet.URDF_USE_SELF_COLLISION))
flags=pybullet.URDF_USE_SELF_COLLISION | pybullet.URDF_GOOGLEY_UNDEFINED_COLORS))
else:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
self._p,
self._p.loadURDF(os.path.join(pybullet_data.getDataPath(), self.model_urdf),
basePosition=self.basePosition,
baseOrientation=self.baseOrientation,
useFixedBase=self.fixed_base))
useFixedBase=self.fixed_base, flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS))
self.robot_specific_reset(self._p)