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make setJointPosMultiDof and setJointVelMultiDof argument const.

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add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
This commit is contained in:
erwincoumans
2018-11-10 14:26:31 -08:00
parent 642c6a71d2
commit 17219f84c6
14 changed files with 512 additions and 36 deletions
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9
data/hinge.urdf
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@@ -38,7 +38,7 @@
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="continuous">
<joint name="joint_baseLink_childA" type="spherical">
<parent link="baseLink"/>
<child link="childA"/>
<origin xyz="0 0 0"/>
@@ -54,20 +54,21 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<sphere radius="0.2"/>
<box size="0.1 0.2 0.3 "/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<sphere radius="0.2"/>
<box size="0.1 0.2 0.3 "/>
</geometry>
</collision>
</link>
<joint name="joint_childA_childB" type="fixed">
<joint name="joint_childA_childB" type="continuous">
<parent link="childA"/>
<child link="childB"/>
<origin xyz="0 0 -0.2"/>
<axis xyz="1 0 0"/>
</joint>
</robot>