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pybullet allow to enable/change joint limits:

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pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLowerLimit=..., jointUpperLimit=...) # jointLowerLimit <= jointUpperLimit

and joint limit max force:
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLimitForce=...)

For example:
p.changeDynamics(sphereUid,linkIndex, jointLowerLimit=1, jointUpperLimit=3, jointLimitForce=10.5)

add b3ChangeDynamicsInfoSetJointLimit/b3ChangeDynamicsInfoSetJointLimitForce
add getConstraintType for btMultiBodyConstraint
This commit is contained in:
Erwin Coumans
2020-07-07 19:42:23 -07:00
parent 73fffd1449
commit c517c434e6
15 changed files with 173 additions and 15 deletions
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26
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3174,6 +3174,32 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetAnisotropicFriction(b3SharedMemoryComma
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimit(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointLowerLimit, double jointUpperLimit)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_changeDynamicsInfoArgs.m_jointLowerLimit = jointLowerLimit;
command->m_changeDynamicsInfoArgs.m_jointUpperLimit = jointUpperLimit;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS;
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointLimitForce)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_changeDynamicsInfoArgs.m_jointLimitForce = jointLimitForce;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE;
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double localInertiaDiagonal[])
{