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LGTM : Left a few comments, mostly about comments :).
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…d readonly_property
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| for ix, val in enumerate(upper_limits): | ||
| if val > 1: | ||
| upper_limits[ix] = 1 | ||
| joint_limits = articulated_object.joint_position_limits |
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| joint_limits = articulated_object.joint_position_limits | |
| lower_limits, upper_limits = articulated_object.joint_position_limits |
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Is this more efficient given the lines below with limiting?
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It will just error if we ever increase or decrease the number of elements returned by the function and is useful for that purpose. Also means you don't have to worry about index out of bound accesses for the tuple.
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I left some comments. I'm worried about the use of CHECK everywhere and honestly wondering if you mixed up CHECK and ESP_CHECK.
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Motivation and Context
Add JointMotor API for articulated object PD control via Bullet physics. Supports single dof joint types (Revolute and Prismatic) and Spherical joints.
Note: also added getters for joint and link names to improve user experience.
TODO: Spherical joint motor velocity targets are not behaving as expected. This may be misunderstanding of parameters or error within Bullet. May need to log an issue and circle back on this in a later PR. Position targets are working as expected.
How Has This Been Tested
New pytests for the changes.
Example of spherical JointMotor position control for humanoid holding a T-pose position:
test_articulated_object_joint_motors__amass_male.urdf.mp4
Types of changes
Checklist