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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.

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YunfeiBai
2018-06-15 17:59:26 -07:00
parent 997211650e
commit 1c0de3c4cb
6 changed files with 95 additions and 12 deletions
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16
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -758,6 +758,22 @@ void b3RobotSimulatorClientAPI_NoDirect::setJointMotorControl(int bodyUniqueId,
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
break;
}
case CONTROL_MODE_PD:
{
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2(m_data->m_physicsClientHandle, bodyUniqueId, CONTROL_MODE_PD);
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
int qIndex = jointInfo.m_qIndex;
b3JointControlSetDesiredPosition(command, qIndex, args.m_targetPosition);
b3JointControlSetKp(command, uIndex, args.m_kp);
b3JointControlSetDesiredVelocity(command, uIndex, args.m_targetVelocity);
b3JointControlSetKd(command, uIndex, args.m_kd);
b3JointControlSetMaximumForce(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
break;
}
default:
{
b3Error("Unknown control command in b3RobotSimulationClientAPI::setJointMotorControl");