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Fix the translation jacobian.

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Jeffrey Bingham
2017-09-27 22:23:22 -07:00
parent 6da931d0bd
commit d8b80bce40
3 changed files with 35 additions and 39 deletions
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8
examples/pybullet/pybullet.c
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@@ -7411,6 +7411,12 @@ static PyMethodDef SpamMethods[] = {
"Get the state (position, velocity etc) for multiple joints on a body."},
{"getLinkState", (PyCFunction)pybullet_getLinkState, METH_VARARGS | METH_KEYWORDS,
"position_linkcom_world, world_rotation_linkcom, "
"position_linkcom_frame, frame_rotation_linkcom, "
"position_frame_world, world_rotation_frame, "
"linearVelocity_linkcom_world, angularVelocity_linkcom_world = "
"getLinkState(objectUniqueId, linkIndex, computeLinkVelocity=0, "
"computeForwardKinematics=0, physicsClientId=0)\n"
"Provides extra information such as the Cartesian world coordinates"
" center of mass (COM) of the link, relative to the world reference"
" frame."},
@@ -7564,7 +7570,7 @@ static PyMethodDef SpamMethods[] = {
"Args:\n"
" bodyIndex - a scalar defining the unique object id.\n"
" linkIndex - a scalar identifying the link containing the local point.\n"
" localPosition - a list of [x, y, z] of the coordinates of the local point.\n"
" localPosition - a list of [x, y, z] of the coordinates defined in the link frame.\n"
" objPositions - a list of the joint positions.\n"
" objVelocities - a list of the joint velocities.\n"
" objAccelerations - a list of the joint accelerations.\n"