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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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examples/SharedMemory/PhysicsClientC_API.h
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@@ -472,6 +472,7 @@ extern "C"
///Only use when controlMode is CONTROL_MODE_VELOCITY
B3_SHARED_API int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); /* find a better name for dof/q/u indices, point to b3JointInfo */
B3_SHARED_API int b3JointControlSetDesiredVelocityMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, const double* velocity, int dofCount);
B3_SHARED_API int b3JointControlSetDesiredVelocityMultiDof2(b3SharedMemoryCommandHandle commandHandle, int dofIndex, const double* velocity, int dofCount);
B3_SHARED_API int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
B3_SHARED_API int b3JointControlSetDesiredForceTorqueMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* forces, int dofCount);