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expose optional targetVelocity to pybullet.resetJointState

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add C-API: b3CreatePoseCommandSetJointVelocities and b3CreatePoseCommandSetJointVelocity
This commit is contained in:
Erwin Coumans
2017-03-23 10:29:16 -07:00
parent e381e84319
commit 0a654c2d58
5 changed files with 66 additions and 12 deletions
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11
examples/pybullet/pybullet.c
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@@ -1864,11 +1864,13 @@ static PyObject* pybullet_resetJointState(PyObject* self, PyObject* args, PyObje
int bodyUniqueId;
int jointIndex;
double targetValue;
double targetVelocity = 0;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "jointIndex", "targetValue", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iid|i", kwlist, &bodyUniqueId, &jointIndex, &targetValue, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "jointIndex", "targetValue", "targetVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iid|di", kwlist, &bodyUniqueId, &jointIndex, &targetValue, &targetVelocity, &physicsClientId))
{
return NULL;
}
@@ -1896,6 +1898,9 @@ static PyObject* pybullet_resetJointState(PyObject* self, PyObject* args, PyObje
b3CreatePoseCommandSetJointPosition(sm, commandHandle, jointIndex,
targetValue);
b3CreatePoseCommandSetJointVelocity(sm, commandHandle, jointIndex,
targetVelocity);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
}
@@ -2912,8 +2917,6 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj
static PyObject* pybullet_getKeyboardEvents(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
struct b3KeyboardEventsData keyboardEventsData;