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PyBullet loadURDF in useMaximalCoordinated=True (btRigidBody), support lower/upper limits for revolute joints.

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This commit is contained in:
erwincoumans
2018-06-22 09:28:07 -07:00
parent 42c9d9aa3c
commit 55e185fe39
2 changed files with 26 additions and 10 deletions
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14
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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@@ -119,8 +119,8 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createRevoluteJoint(in
dof6->setLinearLowerLimit(btVector3(0,0,0)); dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0)); dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(-1,0,0)); dof6->setAngularLowerLimit(btVector3(jointLowerLimit,0,0));
dof6->setAngularLowerLimit(btVector3(1,0,0)); dof6->setAngularUpperLimit(btVector3(jointUpperLimit,0,0));
break; break;
} }
@@ -130,8 +130,9 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createRevoluteJoint(in
dof6->setLinearLowerLimit(btVector3(0,0,0)); dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0)); dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,-1,0));
dof6->setAngularLowerLimit(btVector3(0,1,0)); dof6->setAngularLowerLimit(btVector3(0,jointLowerLimit,0));
dof6->setAngularUpperLimit(btVector3(0,jointUpperLimit,0));
break; break;
} }
case 2: case 2:
@@ -141,8 +142,9 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createRevoluteJoint(in
dof6->setLinearLowerLimit(btVector3(0,0,0)); dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0)); dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,-1));
dof6->setAngularLowerLimit(btVector3(0,0,1)); dof6->setAngularLowerLimit(btVector3(0,0,jointLowerLimit));
dof6->setAngularUpperLimit(btVector3(0,0,jointUpperLimit));
} }
}; };

14
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -462,6 +462,8 @@ void ConvertURDF2BulletInternal(
{ {
btGeneric6DofSpring2Constraint* dof6 = 0; btGeneric6DofSpring2Constraint* dof6 = 0;
if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit)
{
//backwards compatibility //backwards compatibility
if (flags & CUF_RESERVED ) if (flags & CUF_RESERVED )
{ {
@@ -470,6 +472,18 @@ void ConvertURDF2BulletInternal(
{ {
dof6 = creation.createRevoluteJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit); dof6 = creation.createRevoluteJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
} }
} else
{
//disable joint limits
if (flags & CUF_RESERVED )
{
dof6 = creation.createRevoluteJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB,jointAxisInJointSpace,1,-1);
} else
{
dof6 = creation.createRevoluteJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,1,-1);
}
}
if (enableConstraints) if (enableConstraints)
world1->addConstraint(dof6,true); world1->addConstraint(dof6,true);
//b3Printf("Revolute/Continuous joint\n"); //b3Printf("Revolute/Continuous joint\n");