expose PyBullet.setPhysicsEngineParameter(jointFeedbackMode)

use p.JOINT_FEEDBACK_IN_JOINT_FRAME if you want the joint feedback expressed in joint frame (instead of link inertial frame)
use p.JOINT_FEEDBACK_IN_WORLD_SPACE if you want the joint feedback in world space coordinates, instead of local link/joint coordinates.
Example: p.setPhysicsEngineParameter(jointFeedbackMode=p.JOINT_FEEDBACK_IN_WORLD_SPACE+p.JOINT_FEEDBACK_IN_JOINT_FRAME)

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -575,6 +575,15 @@ B3_SHARED_API	int b3PhysicsParameterSetAllowedCcdPenetration(b3SharedMemoryComma
 	return 0;
 }
 
+B3_SHARED_API	int b3PhysicsParameterSetJointFeedbackMode(b3SharedMemoryCommandHandle commandHandle, int jointFeedbackMode)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_physSimParamArgs.m_jointFeedbackMode = jointFeedbackMode;
+	command->m_updateFlags |= SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE;
+	return 0;
+}
+
 B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -296,6 +296,8 @@ B3_SHARED_API	int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCo
 B3_SHARED_API	int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandle commandHandle, int enableConeFriction);
 B3_SHARED_API	int b3PhysicsParameterSetDeterministicOverlappingPairs(b3SharedMemoryCommandHandle commandHandle, int deterministicOverlappingPairs);
 B3_SHARED_API	int b3PhysicsParameterSetAllowedCcdPenetration(b3SharedMemoryCommandHandle commandHandle, double allowedCcdPenetration);
+B3_SHARED_API	int b3PhysicsParameterSetJointFeedbackMode(b3SharedMemoryCommandHandle commandHandle, int jointFeedbackMode);
+
 
 
 B3_SHARED_API	b3SharedMemoryCommandHandle	b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -70,6 +70,9 @@
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
 #endif
 
+extern bool gJointFeedbackInWorldSpace;
+extern bool gJointFeedbackInJointFrame;
+
 int gInternalSimFlags = 0;
 bool gResetSimulation = 0;
 int gVRTrackingObjectUniqueId = -1;
@@ -6623,6 +6626,8 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom
 	return hasStatus;
 }
 
+
+
 bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	bool hasStatus = true;
@@ -6648,6 +6653,12 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 	{
 		m_data->m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration = clientCmd.m_physSimParamArgs.m_allowedCcdPenetration;
 	}
+	
+	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE)
+	{
+		gJointFeedbackInWorldSpace = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode&JOINT_FEEDBACK_IN_WORLD_SPACE)!=0;
+		gJointFeedbackInJointFrame = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode&JOINT_FEEDBACK_IN_JOINT_FRAME)!=0;
+	}
 
 	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)
 	{

examples/SharedMemory/SharedMemoryCommands.h

@@ -447,6 +447,7 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768,
 	SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 65536,
 	SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 131072,
+	SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE = 262144,
 };
 
 enum EnumLoadSoftBodyUpdateFlags

examples/SharedMemory/SharedMemoryPublic.h

@@ -714,6 +714,12 @@ enum eStateLoggingFlags
 	STATE_LOG_JOINT_TORQUES = STATE_LOG_JOINT_MOTOR_TORQUES+STATE_LOG_JOINT_USER_TORQUES,
 };
 
+enum eJointFeedbackModes
+{
+	JOINT_FEEDBACK_IN_WORLD_SPACE=1,
+	JOINT_FEEDBACK_IN_JOINT_FRAME=2,
+};
+
 #define B3_MAX_PLUGIN_ARG_SIZE 128
 #define B3_MAX_PLUGIN_ARG_TEXT_LEN 1024
 
@@ -746,6 +752,7 @@ struct b3PhysicsSimulationParameters
 	int m_enableConeFriction;
 	int m_deterministicOverlappingPairs;
 	double m_allowedCcdPenetration;
+	int m_jointFeedbackMode;
 };
 
 

examples/pybullet/pybullet.c

@@ -1156,12 +1156,13 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 	int enableConeFriction = -1;
 	b3PhysicsClientHandle sm = 0;
 	int deterministicOverlappingPairs = -1;
-
+	int jointFeedbackMode =-1;
+	
 	int physicsClientId = 0;
-	static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "physicsClientId", NULL};
+	static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
-									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &physicsClientId))
+									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -1245,7 +1246,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 		if (allowedCcdPenetration>=0)
 		{
 			b3PhysicsParameterSetAllowedCcdPenetration(command,allowedCcdPenetration);
-			
+		}
+		if (jointFeedbackMode>=0)
+		{
+			b3PhysicsParameterSetJointFeedbackMode(command,jointFeedbackMode);
 		}
 
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -9177,6 +9181,9 @@ initpybullet(void)
 	
 	PyModule_AddIntConstant(m, "SENSOR_FORCE_TORQUE", eSensorForceTorqueType);  // user read
 
+	PyModule_AddIntConstant(m, "JOINT_FEEDBACK_IN_WORLD_SPACE", JOINT_FEEDBACK_IN_WORLD_SPACE);  // user read
+	PyModule_AddIntConstant(m, "JOINT_FEEDBACK_IN_JOINT_FRAME", JOINT_FEEDBACK_IN_JOINT_FRAME);  // user read
+
 	PyModule_AddIntConstant(m, "TORQUE_CONTROL", CONTROL_MODE_TORQUE);
 	PyModule_AddIntConstant(m, "VELOCITY_CONTROL",
 							CONTROL_MODE_VELOCITY);  // user read