Bart/bullet3
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more formatting.

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This commit is contained in:
Jeffrey Bingham
2017-09-27 22:35:02 -07:00
parent d49fade704
commit cd231c030e
2 changed files with 9 additions and 14 deletions
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11
examples/pybullet/examples/jacobian.py
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@@ -1,5 +1,3 @@
import sys
sys.path.append('/Users/bingjeff/Documents/projects/walkman/bullet3/bin/')
import pybullet as p import pybullet as p
@@ -14,12 +12,9 @@ def setJointPosition(robot, position, kp=1.0, kv=0.3):
num_joints = p.getNumJoints(robot) num_joints = p.getNumJoints(robot)
zero_vec = [0.0] * num_joints zero_vec = [0.0] * num_joints
if len(position) == num_joints: if len(position) == num_joints:
p.setJointMotorControlArray(robot, range(num_joints), p.setJointMotorControlArray(robot, range(num_joints), p.POSITION_CONTROL,
p.POSITION_CONTROL, targetPositions=position, targetVelocities=zero_vec,
targetPositions=position, positionGains=[kp] * num_joints, velocityGains=[kv] * num_joints)
targetVelocities=zero_vec,
positionGains=[kp] * num_joints,
velocityGains=[kv] * num_joints)
else: else:
print("Not setting torque. " print("Not setting torque. "
"Expected torque vector of " "Expected torque vector of "

12
examples/pybullet/pybullet.c
View File

@@ -7411,12 +7411,12 @@ static PyMethodDef SpamMethods[] = {
"Get the state (position, velocity etc) for multiple joints on a body."}, "Get the state (position, velocity etc) for multiple joints on a body."},
{"getLinkState", (PyCFunction)pybullet_getLinkState, METH_VARARGS | METH_KEYWORDS, {"getLinkState", (PyCFunction)pybullet_getLinkState, METH_VARARGS | METH_KEYWORDS,
"position_linkcom_world, world_rotation_linkcom, " "position_linkcom_world, world_rotation_linkcom,\n"
"position_linkcom_frame, frame_rotation_linkcom, " "position_linkcom_frame, frame_rotation_linkcom,\n"
"position_frame_world, world_rotation_frame, " "position_frame_world, world_rotation_frame,\n"
"linearVelocity_linkcom_world, angularVelocity_linkcom_world = " "linearVelocity_linkcom_world, angularVelocity_linkcom_world\n"
"getLinkState(objectUniqueId, linkIndex, computeLinkVelocity=0, " " = getLinkState(objectUniqueId, linkIndex, computeLinkVelocity=0,\n"
"computeForwardKinematics=0, physicsClientId=0)\n" " computeForwardKinematics=0, physicsClientId=0)\n"
"Provides extra information such as the Cartesian world coordinates" "Provides extra information such as the Cartesian world coordinates"
" center of mass (COM) of the link, relative to the world reference" " center of mass (COM) of the link, relative to the world reference"
" frame."}, " frame."},