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/plugins/pdControlPlugin/pdControlPlugin.cpp
+++ b/examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
@@ -122,7 +122,6 @@ B3_SHARED_API int executePluginCommand_pdControlPlugin(struct b3PluginContext* c
 		controller.m_maxForce = arguments->m_floats[4];
 		controller.m_objectUniqueId = arguments->m_ints[1];
 		controller.m_linkIndex = arguments->m_ints[2];
-
 		int foundIndex = -1;
 		for (int i = 0; i < obj->m_controllers.size(); i++)
 		{