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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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erwincoumans
2018-01-16 13:39:54 -08:00
parent 68c2253f82 603d674e74
commit 32d615565d
4 changed files with 5 additions and 5 deletions
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4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8217,7 +8217,7 @@ int PhysicsServerCommandProcessor::extractCollisionShapes(const btCollisionShape
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
UrdfCollision* urdfCol = m_data->m_bulletCollisionShape2UrdfCollision.find(colShape);
if (urdfCol && (urdfCol->m_geometry.m_type == GEOM_MESH))
if (urdfCol && (urdfCol->m_geometry.m_type == URDF_GEOM_MESH))
{
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_MESH;
collisionShapeBuffer[0].m_dimensions[0] = urdfCol->m_geometry.m_meshScale[0];
@@ -8283,7 +8283,7 @@ int PhysicsServerCommandProcessor::extractCollisionShapes(const btCollisionShape
{
//it could be a compound mesh from a wavefront OBJ, check it
UrdfCollision* urdfCol = m_data->m_bulletCollisionShape2UrdfCollision.find(colShape);
if (urdfCol && (urdfCol->m_geometry.m_type == GEOM_MESH))
if (urdfCol && (urdfCol->m_geometry.m_type == URDF_GEOM_MESH))
{
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_MESH;
collisionShapeBuffer[0].m_dimensions[0] = urdfCol->m_geometry.m_meshScale[0];

4
examples/pybullet/gym/pybullet_envs/bullet/kuka.py
View File

@@ -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):