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Add grasp box example and fixjoint boxes example.

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gripper is working?

fix joint example
This commit is contained in:
Chuyuan Fu
2019-03-05 15:44:06 -08:00
parent 9141caf67e
commit e818452494
6 changed files with 300 additions and 34 deletions
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13
examples/BulletRobotics/JointLimit.cpp
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@@ -51,20 +51,17 @@ public:
b3RobotSimulatorSetPhysicsEngineParameters physicsArgs;
physicsArgs.m_constraintSolverType = eConstraintSolverLCP_DANTZIG;
b3Printf(m_robotSim.getSolvername());
physicsArgs.m_defaultGlobalCFM = 1e-6;
m_robotSim.setNumSolverIterations(10);
m_robotSim.setNumSolverIterations(10);
b3RobotSimulatorLoadUrdfFileArgs loadArgs;
int humanoid = m_robotSim.loadURDF("test_joints_MB.urdf", loadArgs);
b3RobotSimulatorChangeDynamicsArgs dynamicsArgs;
dynamicsArgs.m_linearDamping = 0;
dynamicsArgs.m_angularDamping = 0;
m_robotSim.changeDynamics(humanoid, -1, dynamicsArgs);
b3RobotSimulatorChangeDynamicsArgs dynamicsArgs;
dynamicsArgs.m_linearDamping = 0;
dynamicsArgs.m_angularDamping = 0;
m_robotSim.changeDynamics(humanoid, -1, dynamicsArgs);
m_robotSim.setGravity(btVector3(0, 0, -10));
}