Add the pdControlPlugin to the joint control C API, and add the PD control mode (also available in pybullet). Modify the pdControl pybullet example to use the PD control mode with setJointMotorControl API.

2018-06-15 17:59:26 -07:00
parent 997211650e
commit 1c0de3c4cb
6 changed files with 95 additions and 12 deletions
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -634,6 +634,7 @@ enum {
    CONTROL_MODE_VELOCITY=0,
    CONTROL_MODE_TORQUE,
    CONTROL_MODE_POSITION_VELOCITY_PD,
+    CONTROL_MODE_PD, // The standard PD control implemented as soft constraint.
 };

 ///flags for b3ApplyExternalTorque and b3ApplyExternalForce