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[pybullet] implement addUserDebugParameter / readUserDebugParameter

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fix inertial frame for door.urdf
allow picking of links of multi-bodies with a fixed base
This commit is contained in:
Erwin Coumans
2017-01-17 15:42:32 -08:00
parent 966ebb04fe
commit 52761f5578
14 changed files with 270 additions and 13 deletions
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6
test/InverseDynamics/test_invdyn_jacobian.cpp
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@@ -76,7 +76,7 @@ void calculateDotJacUError(const MultiBodyTreeCreator& creator, const int nloops
EXPECT_EQ(0, tree2->calculatePositionAndVelocityKinematics(q, u));
EXPECT_EQ(0, tree2->calculateJacobians(q, u));
for (size_t idx = 0; idx < nbodies; idx++) {
for (int idx = 0; idx < nbodies; idx++) {
vec3 tmp1, tmp2;
vec3 diff;
EXPECT_EQ(0, tree1->getBodyLinearAcceleration(idx, &tmp1));
@@ -134,7 +134,7 @@ void calculateJacobianError(const MultiBodyTreeCreator& creator, const int nloop
EXPECT_EQ(0, tree2->calculatePositionKinematics(q));
EXPECT_EQ(0, tree2->calculateJacobians(q));
for (size_t idx = 0; idx < nbodies; idx++) {
for (int idx = 0; idx < nbodies; idx++) {
mat3x ref_jac_r(3, ndofs);
mat3x ref_jac_t(3, ndofs);
ref_jac_r.setZero();
@@ -211,7 +211,7 @@ void calculateVelocityJacobianError(const MultiBodyTreeCreator& creator, const i
EXPECT_EQ(0, tree2->calculatePositionKinematics(q));
EXPECT_EQ(0, tree2->calculateJacobians(q));
for (size_t idx = 0; idx < nbodies; idx++) {
for (int idx = 0; idx < nbodies; idx++) {
vec3 vel1;
vec3 omg1;
vec3 vel2;