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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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4
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -1280,7 +1280,9 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, XMLElement* config, ErrorLogger* l
}
std::string type_str = type_char;
if (type_str == "planar")
if (type_str == "spherical")
joint.m_type = URDFSphericalJoint;
else if (type_str == "planar")
joint.m_type = URDFPlanarJoint;
else if (type_str == "floating")
joint.m_type = URDFFloatingJoint;