No setJointMotorControlMultiDof for right shoulder in setJointMotors

[tfederico]

Hi,

I noticed that in humanoid_stable_pd.py there is a call to pybullet.setJointMotorControlMultiDoffor basically every joint, except for the right shoulder.

Is this on purpose? Why is it the only one left out?

[erwincoumans]

It is not on purpose. The code is not used, right? Since by default we use stable PD control (setJointMotors is not called).

[tfederico]

I see, thanks for the clarification. Is a refactoring of code happening in future releases? Or would a pull request with a refactoring be accepted? I see a lot of development code that could potentially be removed, making the whole flow more readable.