Hammoud/bulletwrapper_get_force() - Githubissues

machines-in-motion / bullet_utils

Python wrapper around pybullet.

BSD 3-Clause "New" or "Revised" License

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Hammoud/bulletwrapper_get_force() #14

Closed hammoudbilal closed 2 years ago

hammoudbilal commented 2 years ago

This pull request includes minor fixes and modifications to PinBulletWrapper here are the changes

modify the demo to match updated robot_properties_solo
modify PinBulletWrapper.get_force() to return the correct direction of the force, before, the order of the bodies in pyBullet.getContactPoints would choose the robot as bodyB
modify PinBulletWrapper.get_force() to return the forces for all end-effectors, non-active end-effectors get zero force and zero active status.

Description

How I Tested

Do not merge before

[ ] link to dependent pull request

I fulfilled the following requirements

[ ] All new code is formatted according to our style guide (for C++ run clang-format, for Python, run flake8 and fix all warnings).
[ ] All new functions/classes are documented and existing documentation is updated according to changes.
[ ] No commented code from testing/debugging is kept (unless there is a good reason to keep it).

hammoudbilal commented 2 years ago

Alright, I restored the previous get_force() method and added a new method called end_effector_forces() and fixed the remaining issues