text: import os
  
  import pybullet as p
  
  from .. import Human
  
  
  class Man(Human):
      def __init__(self,
                   pybtPhysicsClient,
                   partitioned=False,
                   self_collisions=False,
                   timestep=0.01,
                   scaling=1.0):
          if partitioned:
              self.body_id = p.loadURDF(
                  os.path.join(os.path.dirname(__file__),
                               "man_partitioned.urdf"),
                  flags=p.URDF_MAINTAIN_LINK_ORDER,
                  physicsClientId=pybtPhysicsClient,
                  globalScaling=scaling
              )
          else:
              urdf_load_flags = p.URDF_MAINTAIN_LINK_ORDER
              if self_collisions:
                  urdf_load_flags = p.URDF_MAINTAIN_LINK_ORDER | p.URDF_USE_SELF_COLLISION
              self.body_id = p.loadURDF(
                  os.path.join(os.path.dirname(__file__),
                               "man.urdf"),
                  flags=urdf_load_flags,
                  physicsClientId=pybtPhysicsClient,
                  globalScaling=scaling
              )
  
          super().__init__(
              pybtPhysicsClient,
              folder=os.path.dirname(__file__),
              timestep=timestep,
              scaling=scaling,
              translation_scaling=0.95,   # this is a calibration/scaling of the mocap velocities
          )
  