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[sharedmemory] Fill-out calculateJacobian command.

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The server command processor actually didn't do anything with
the local point that was passed along with the calculateJacobian
command. Added in the necessary bit of math to return the
corresponding jacobian.

Also, fixed a typo in pybullet that was returning the same
jacobian for translation and rotation.
This commit is contained in:
Jeffrey Bingham
2017-09-24 14:14:24 -07:00
parent 8eb69552d1
commit ee30ca93c5
4 changed files with 47 additions and 2 deletions
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11
examples/pybullet/pybullet.c
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@@ -7184,7 +7184,7 @@ static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyOb
for (c = 0; c < dofCount; ++c) {
int element = r * dofCount + c;
PyTuple_SetItem(pyrow, c,
PyFloat_FromDouble(linearJacobian[element]));
PyFloat_FromDouble(angularJacobian[element]));
}
PyTuple_SetItem(pymat, r, pyrow);
}
@@ -7225,31 +7225,40 @@ static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyOb
static PyMethodDef SpamMethods[] = {
{"connect", (PyCFunction)pybullet_connectPhysicsServer, METH_VARARGS | METH_KEYWORDS,
"connect(method, key=SHARED_MEMORY_KEY, options='')\n"
"connect(method, hostname='localhost', port=1234, options='')\n"
"Connect to an existing physics server (using shared memory by default)."},
{"disconnect", (PyCFunction)pybullet_disconnectPhysicsServer, METH_VARARGS | METH_KEYWORDS,
"disconnect(physicsClientId=0)\n"
"Disconnect from the physics server."},
{"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS,
"resetSimulation(physicsClientId=0)\n"
"Reset the simulation: remove all objects and start from an empty world."},
{"stepSimulation", (PyCFunction)pybullet_stepSimulation, METH_VARARGS | METH_KEYWORDS,
"stepSimulation(physicsClientId=0)\n"
"Step the simulation using forward dynamics."},
{"setGravity", (PyCFunction)pybullet_setGravity, METH_VARARGS | METH_KEYWORDS,
"setGravity(gravX, gravY, gravZ, physicsClientId=0)\n"
"Set the gravity acceleration (x,y,z)."},
{"setTimeStep", (PyCFunction)pybullet_setTimeStep, METH_VARARGS | METH_KEYWORDS,
"setTimeStep(timestep, physicsClientId=0)\n"
"Set the amount of time to proceed at each call to stepSimulation. (unit "
"is seconds, typically range is 0.01 or 0.001)"},
{"setDefaultContactERP", (PyCFunction)pybullet_setDefaultContactERP, METH_VARARGS | METH_KEYWORDS,
"setDefaultContactERP(defaultContactERP, physicsClientId=0)\n"
"Set the amount of contact penetration Error Recovery Paramater "
"(ERP) in each time step. \
This is an tuning parameter to control resting contact stability. "
"This value depends on the time step."},
{"setRealTimeSimulation", (PyCFunction)pybullet_setRealTimeSimulation, METH_VARARGS | METH_KEYWORDS,
"setRealTimeSimulation(enableRealTimeSimulation, physicsClientId=0)\n"
"Enable or disable real time simulation (using the real time clock,"
" RTC) in the physics server. Expects one integer argument, 0 or 1"},