Update some comments/docs and bump version to 1.2.0.

Author: adamheins

README.md

@@ -117,10 +117,15 @@ example:
 (0.0, 0.0, 0.0)
 ```
 The functions we've wrapped in this way are `getClosestPoints`,
-`getConstraintInfo`, `getContactPoints`, `getDynamicsInfo`, and `getJointInfo`.
-The one difference from the PyBullet API is that in pyb_utils `getJointInfo`
-also accepts an optional argument `decode`, which will convert the byte strings
+`getConstraintInfo`, `getContactPoints`, `getDynamicsInfo`, `getJointInfo`,
+`getJointState(s)`, and `getLinkState(s)`. There are two differences from the
+vanilla PyBullet API. The first is that in pyb_utils `getJointInfo` also
+accepts an optional argument `decode`, which will convert the byte strings
 returned by PyBullet to the specifed encoding. For example, `decode="utf8"`.
+The second difference is that in pyb_utils `getLinkState(s)` will always return
+`LinkState` tuples with 8 fields, even if `computeLinkVelocity=False`. When
+`computeLinkVelocity=False`, then `worldLinkLinearVelocity` and
+`worldLinkAngularVelocity` are both set to `None`.
 
 And there's more! You can find example scripts of all of this package's
 utilities in the `examples/` directory:

docs/src/conf.py

@@ -25,9 +25,9 @@
 author = 'Adam Heins'
 
 # The short X.Y version
-version = '1.1.0'
+version = '1.2.0'
 # The full version, including alpha/beta/rc tags
-release = '1.1.0'
+release = '1.2.0'
 
 
 # -- General configuration ---------------------------------------------------

pyb_utils/robots.py

@@ -133,10 +133,7 @@ def get_link_frame_pose(self, link_idx=None):
         )
 
     def get_link_com_velocity(self, link_idx=None):
-        """Get the velocity of a link's center of mass.
-
-        The velocity is computed about the link's center of mass with respect
-        to the world frame.
+        """Get the velocity of a link's center of mass with respect to the world.
 
         Parameters
         ----------
@@ -162,6 +159,20 @@ def get_link_com_velocity(self, link_idx=None):
         return v_com, ω_com
 
     def get_link_frame_velocity(self, link_idx=None):
+        """Get the velocity of a link's URDF frame with respect to the world.
+
+        Parameters
+        ----------
+        link_idx :
+            Index of the link to use. If not provided, defaults to the end
+            effector ``self.tool_idx``.
+
+        Returns
+        -------
+        :
+            A tuple containing the linear and angular velocity vectors for the
+            link's URDF frame with respect to the world.
+        """
         if link_idx is None:
             link_idx = self.tool_idx
         state = getLinkState(

pyproject.toml

@@ -3,7 +3,7 @@ line-length = 80
 
 [tool.poetry]
 name = "pyb_utils"
-version = "1.1.0"
+version = "1.2.0"
 description = "Basic utilities for PyBullet, including collision detection, ghost (i.e. visual-only) objects, and cameras."
 authors = ["Adam Heins <[email protected]>"]
 license = "MIT"