try to fix travis, update inertia for Laikago, reset camera at the right time (#3021)

* laikago_toes_zup.urdf: fill in inertia values, computed as PyBullet does internally (from mass and collision volumes)

* reset camera in the rendering thread to avoid artifacts

* reset camera in the rendering thread to avoid artifacts

* try to fix travis error

3 files changed, 46 insertions, 16 deletions

diff --git a/.ci/script.sh b/.ci/script.sh
index 7fff323bf..f213df283 100755
--- a/.ci/script.sh
+++ b/.ci/script.sh
@@ -9,7 +9,7 @@ if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then
   $SUDO apt-get install -y python3-pip
   $SUDO pip3 install -U wheel
   $SUDO pip3 install -U setuptools
-  $SUDO python3 setup.py install
+  python3 setup.py install --user
   python3 examples/pybullet/unittests/unittests.py --verbose
   python3 examples/pybullet/unittests/userDataTest.py --verbose
   python3 examples/pybullet/unittests/saveRestoreStateTest.py --verbose
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 3a159f581..264ff7542 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -130,6 +130,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIHelperUpdateShape,
 	eGUIHelperChangeGraphicsInstanceScaling,
 	eGUIUserDebugRemoveAllParameters,
+	eGUIHelperResetCamera,
 };
 
 #include <stdio.h>
@@ -1086,9 +1087,25 @@ public:
 	{
 		m_childGuiHelper->setUpAxis(axis);
 	}
+	float m_resetCameraCamDist;
+	float m_resetCameraYaw;
+	float m_resetCameraPitch;
+	float m_resetCameraCamPosX;
+	float m_resetCameraCamPosY;
+	float m_resetCameraCamPosZ;
+
 	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX, float camPosY, float camPosZ)
 	{
-		m_childGuiHelper->resetCamera(camDist, yaw, pitch, camPosX, camPosY, camPosZ);
+		m_cs->lock();
+		m_resetCameraCamDist = camDist;
+		m_resetCameraYaw = yaw;
+		m_resetCameraPitch = pitch;
+		m_resetCameraCamPosX = camPosX;
+		m_resetCameraCamPosY = camPosY;
+		m_resetCameraCamPosZ = camPosZ;
+		m_cs->setSharedParam(1, eGUIHelperResetCamera);
+		workerThreadWait();
+		//m_childGuiHelper->resetCamera(camDist, yaw, pitch, camPosX, camPosY, camPosZ);
 	}
 
 	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3], float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const
@@ -1424,7 +1441,7 @@ public:
 		float pitch = -35;
 		float yaw = 50;
 		float targetPos[3] = {0, 0, 0};  //-3,2.8,-2.5};
-		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+		m_multiThreadedHelper->m_childGuiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
 	}
 
 	virtual bool wantsTermination();
@@ -2360,6 +2377,19 @@ void PhysicsServerExample::updateGraphics()
 			m_multiThreadedHelper->mainThreadRelease();
 			break;
 		}
+		case eGUIHelperResetCamera:
+		{
+			m_multiThreadedHelper->m_childGuiHelper->resetCamera(
+				m_multiThreadedHelper->m_resetCameraCamDist,
+				m_multiThreadedHelper->m_resetCameraYaw,
+				m_multiThreadedHelper->m_resetCameraPitch,
+				m_multiThreadedHelper->m_resetCameraCamPosX,
+				m_multiThreadedHelper->m_resetCameraCamPosY,
+				m_multiThreadedHelper->m_resetCameraCamPosZ);
+			m_multiThreadedHelper->mainThreadRelease();
+			break;
+		}
+
 		case eGUIHelperAutogenerateGraphicsObjects:
 		{
 			B3_PROFILE("eGUIHelperAutogenerateGraphicsObjects");
diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf
index d051affb8..8ebab9123 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf
+++ b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf
@@ -7,7 +7,7 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>
        <mass value="13.715"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.22" ixy="0" ixz="0" iyy="0.431" iyz="0" izz="0.565"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz=" 0  0 0"/>
@@ -32,7 +32,7 @@
     <inertial>
        <origin rpy="0 0 0" xyz="0.02 0 0"/>
        <mass value="1.095"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy=".002" iyz="0" izz=".001"/>
     </inertial>
 
     <visual>
@@ -67,7 +67,7 @@
     <inertial>
      <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
        <mass value="1.527"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.015" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.01"/>
     </inertial>
        <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -102,7 +102,7 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
        <mass value="0.241"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
     </inertial>
        <visual>
       <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
@@ -137,7 +137,7 @@
     <inertial>
      <origin rpy="0 0 0" xyz="-.02 0 0"/>
        <mass value="1.095"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -174,7 +174,7 @@
     <inertial>
        <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
        <mass value="1.527"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
     </inertial>
      <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -213,7 +213,7 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
        <mass value="0.241"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
     </inertial>
    <visual>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>
@@ -254,7 +254,7 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0.02 0 0"/>
        <mass value="1.095"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
     </inertial>
 
     <visual>
@@ -291,7 +291,7 @@
     <inertial>
      <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
        <mass value="1.527"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
     </inertial>
        <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -326,7 +326,7 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
        <mass value="0.241"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
     </inertial>
        <visual>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>
@@ -362,7 +362,7 @@
     <inertial>
       <origin rpy="0 0 0" xyz="-.02 0 0"/>
        <mass value="1.095"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -398,7 +398,7 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
        <mass value="1.527"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
     </inertial>
      <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -435,7 +435,7 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
        <mass value="0.241"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
     </inertial>
    <visual>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>