Merge pull request #56 from bttner/master

Make PyBullet use the inertia tensor provided in the URDF file
utiasDSL · Aug 12, 2021 · ed9aaa5 · ed9aaa5
2 parents 0e4ed05 + 9a7745f
commit ed9aaa5
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/gym_pybullet_drones/envs/BaseAviary.py b/gym_pybullet_drones/envs/BaseAviary.py
@@ -485,6 +485,7 @@ def _housekeeping(self):
         self.DRONE_IDS = np.array([p.loadURDF(os.path.dirname(os.path.abspath(__file__))+"/../assets/"+self.URDF,
                                               self.INIT_XYZS[i,:],
                                               p.getQuaternionFromEuler(self.INIT_RPYS[i,:]),
+                                              flags = p.URDF_USE_INERTIA_FROM_FILE,
                                               physicsClientId=self.CLIENT
                                               ) for i in range(self.NUM_DRONES)])
         for i in range(self.NUM_DRONES):