I'm having issues where my calls to p.calculateJacobian() result in a segmentation fault. The code to recreate this is:
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import pybullet as p
import numpy as np
phyID=p.connect(p.DIRECT)
robot_path='/basics/models/robot.urdf'
robotId = p.loadURDF(robot_path, flags=p.URDF_USE_SELF_COLLISION, physicsClientId=phyID)
p.stepSimulation()
jacobian=p.calculateJacobian(robotId, 7, [0, 0, 0], np.zeros(18) ,np.zeros(18),np.zeros(18), physicsClientId=phyID)
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pybullet build time: May 20 2022 19:41:54
Segmentation fault (core dumped)
I am using pybullet version 3.17, python version 3.6.9 and im running the whole thing via a WSL install of Ubuntu 18.04.5 LTS.
Any assistance would be greatly appreciated!