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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/SharedMemoryPublic.h
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@@ -772,6 +772,7 @@ enum
CONTROL_MODE_TORQUE,
CONTROL_MODE_POSITION_VELOCITY_PD,
CONTROL_MODE_PD, // The standard PD control implemented as soft constraint.
CONTROL_MODE_STABLE_PD,
};
///flags for b3ApplyExternalTorque and b3ApplyExternalForce