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Merge pull request #1515 from erwincoumans/master

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apply a maximum velocity for the KUKA arm
This commit is contained in:
erwincoumans
2018-01-16 17:28:46 -08:00
committed by GitHub
parent 173eec93fc 32d615565d
commit 023ec7ce9e
4 changed files with 6 additions and 5 deletions
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2
examples/SharedMemory/PhysicsClientTCP.h
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@@ -2,7 +2,7 @@
#define PHYSICS_CLIENT_TCP_H
#include "PhysicsDirect.h"
#include "PhysicsServerCommandProcessor.h"
#include "PhysicsCommandProcessorInterface.h"
class TcpNetworkedPhysicsProcessor : public PhysicsCommandProcessorInterface
{

2
examples/SharedMemory/PhysicsClientUDP.h
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@@ -2,7 +2,7 @@
#define PHYSICS_CLIENT_UDP_H
#include "PhysicsDirect.h"
#include "PhysicsServerCommandProcessor.h"
#include "PhysicsCommandProcessorInterface.h"
class UdpNetworkedPhysicsProcessor : public PhysicsCommandProcessorInterface
{

3
examples/SharedMemory/PhysicsServerSharedMemory.cpp
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@@ -12,7 +12,8 @@
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryBlock.h"
#include "PhysicsServerCommandProcessor.h"
#include "PhysicsCommandProcessorInterface.h"
//number of shared memory blocks == number of simultaneous connections
#define MAX_SHARED_MEMORY_BLOCKS 2

4
examples/pybullet/gym/pybullet_envs/bullet/kuka.py
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@@ -15,7 +15,7 @@ class Kuka:
def __init__(self, urdfRootPath=pybullet_data.getDataPath(), timeStep=0.01):
self.urdfRootPath = urdfRootPath
self.timeStep = timeStep
self.maxVelocity = .35
self.maxForce = 200.
self.fingerAForce = 2
self.fingerBForce = 2.5
@@ -146,7 +146,7 @@ class Kuka:
if (self.useSimulation):
for i in range (self.kukaEndEffectorIndex+1):
#print(i)
p.setJointMotorControl2(bodyIndex=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,positionGain=0.3,velocityGain=1)
p.setJointMotorControl2(bodyUniqueId=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,maxVelocity=self.maxVelocity, positionGain=0.3,velocityGain=1)
else:
#reset the joint state (ignoring all dynamics, not recommended to use during simulation)
for i in range (self.numJoints):