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tweak ImportMJCFSetup.cpp example MJCF humanoid a bit, clamp target positions to be within joint limits to avoid solver problems (conflicting constraints)

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add humanoid_manual_control.py PyBullet example which is similar to ImportMJCFSetup.cpp
This commit is contained in:
Erwin Coumans
2018-01-04 13:14:11 -08:00
parent 4743d2770a
commit c59a3763e5
4 changed files with 62 additions and 4 deletions
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5
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4633,6 +4633,11 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
}
motor->setVelocityTarget(desiredVelocity,kd);
//clamp position
if (mb->getLink(link).m_jointLowerLimit <= mb->getLink(link).m_jointUpperLimit)
{
btClamp(desiredPosition, mb->getLink(link).m_jointLowerLimit, mb->getLink(link).m_jointUpperLimit);
}
motor->setPositionTarget(desiredPosition,kp);
btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime;