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Implement faster array versions of PyBullet: getJointStatesMultiDof, getLinkStates, setJointMotorControlMultiDofArray, resetJointStatesMultiDof,

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Implement StablePD in C++ through setJointMotorControlMultiDofArray method for pybullet_envs.deep_mimic, see testHumanoid.py and examples/pybullet/examples/humanoidMotionCapture.py
Minor fix in ChromeTraceUtil in case startTime>endTime (why would it happen?)
This commit is contained in:
Erwin Coumans
2019-07-21 13:08:22 -07:00
parent dff277ad7b
commit 39a4e8dcd9
12 changed files with 1503 additions and 171 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -856,7 +856,17 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2Internal(b3S
for (int i = 0; i < MAX_DEGREE_OF_FREEDOM; i++)
{
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[i] = 0;
}
for (int i = 0; i < 7; i++)
{
command->m_sendDesiredStateCommandArgument.m_desiredStateQ[i] = 0;
command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 0;
command->m_sendDesiredStateCommandArgument.m_Kp[i] = 0;
command->m_sendDesiredStateCommandArgument.m_Kd[i] = 0;
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 0;
}
command->m_sendDesiredStateCommandArgument.m_desiredStateQ[3] = 1;
return (b3SharedMemoryCommandHandle)command;
}