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OmniGibson
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Integrated optimization, fixed multiview issue

This commit is contained in:
hzyjerry 2017-10-05 16:55:58 -07:00
parent 0abdfa9ab7
commit 1d4d19ccf5
2 changed files with 6 additions and 5 deletions
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3
physics/PhysicsObject.py
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@ -27,7 +27,8 @@ class PhysicsObject():
self.fps = float(fps)
self.action = self._createDefaultAction()
self.camera_offset = np.array([0, 0, 0.8])
#self.camera_offset = np.array([0, 0, 0.8])
self.camera_offset = np.array([0, 0, 0])
self.pos_init_xyz = np.array(pos)
self.quat_init_xyzw = np.array(quat)

8
physics/render_physics.py
View File

@ -130,11 +130,11 @@ if __name__ == '__main__':
allSpheres = []
framePerSec = 10
framePerSec = 22
#objectUid = p.loadURDF("models/quadrotor.urdf", globalScaling = 0.8)
objectUid = p.loadURDF("models/husky.urdf", globalScaling = 0.8)
objectUid = p.loadURDF("models/quadrotor.urdf", globalScaling = 0.8)
#objectUid = p.loadURDF("models/husky.urdf", globalScaling = 0.8)
pos, quat_xyzw = getInitialPositionOrientation()
@ -149,7 +149,7 @@ if __name__ == '__main__':
print("Generated cart", objectUid)
p.setGravity(0,0,-10)
#p.setGravity(0,0,-10)
p.setRealTimeSimulation(0)
## same as cv.waitKey(5) in viewPort