Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Modify the joint damping input check, and output error message when it doesn't pass the size check. Modify the kuka grasping example accordingly. Setting joint damping in this example was a no-op before.

Browse Source
This commit is contained in:
yunfeibai
2017-09-27 15:18:08 -07:00
parent adcece7927
commit 113e103bc2
2 changed files with 24 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
examples/pybullet/pybullet.c
View File

@@ -6735,16 +6735,32 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
hasNullSpace = 1;
}
if (numJoints && (szJointDamping == numJoints))
if (szJointDamping > 0)
{
int szInBytes = sizeof(double) * numJoints;
int i;
jointDamping = (double*)malloc(szInBytes);
for (i = 0; i < numJoints; i++)
// We allow the number of joint damping values to be larger than
// the number of degrees of freedom (DOFs). On the server side, it does
// the check and only sets joint damping for all DOFs.
// We can use the number of DOFs here when that is exposed. Since the
// number of joints is larger than the number of DOFs (we assume the
// joint is either fixed joint or one DOF joint), it is safe to use
// number of joints here.
if (szJointDamping < numJoints)
{
jointDamping[i] = pybullet_internalGetFloatFromSequence(jointDampingObj, i);
PyErr_SetString(SpamError,
"calculateInverseKinematics the size of input joint damping values is smaller than the number of joints.");
return NULL;
}
else
{
int szInBytes = sizeof(double) * szJointDamping;
int i;
jointDamping = (double*)malloc(szInBytes);
for (i = 0; i < szJointDamping; i++)
{
jointDamping[i] = pybullet_internalGetFloatFromSequence(jointDampingObj, i);
}
hasJointDamping = 1;
}
hasJointDamping = 1;
}
if (hasPos)