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set dft for kd to be 1.0. note: this is only applicable to CONTROL_MODE_VELOCITY

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Mat Kelcey
2016-07-26 16:15:08 -07:00
parent 4b75c5d9d0
commit b4cfee8745
1 changed files with 1 additions and 3 deletions
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examples/pybullet/pybullet.c
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@@ -294,8 +294,6 @@ pybullet_resetSimulation(PyObject* self, PyObject* args)
static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
{ {
//TODO(matkelcey): should this just be three methods?
int size; int size;
int bodyIndex, jointIndex, controlMode; int bodyIndex, jointIndex, controlMode;
double targetValue=0; double targetValue=0;
@@ -303,7 +301,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
double targetVelocity=0; double targetVelocity=0;
double maxForce=100000; double maxForce=100000;
double kp=0.1; double kp=0.1;
double kd=0.1; double kd=1.0;
int valid = 0; int valid = 0;
if (0==sm) if (0==sm)