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getJointPositions returns a list of all joint positions for a given bodyIndex

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This commit is contained in:
Jasmine Hsu
2016-06-15 14:21:04 -07:00
parent 934725554f
commit 03fded3dc7
1 changed files with 142 additions and 38 deletions
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180
examples/pybullet/pybullet.c
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@@ -121,7 +121,7 @@ pybullet_disconnectPhysicsServer(PyObject *self, PyObject *args)
// Load a URDF file indicating the links and joints of an object
// function can be called without arguments and will default
// to position (0,0,1) with orientation(0,0,0,1)
// else, loadURDF(x,y,z) or
// els(x,y,z) or
// loadURDF(pos_x, pos_y, pos_z, orn_x, orn_y, orn_z, orn_w)
static PyObject *
pybullet_loadURDF(PyObject* self, PyObject* args)
@@ -337,6 +337,7 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double
baseOrientation[1] = actualStateQ[4];
baseOrientation[2] = actualStateQ[5];
baseOrientation[3] = actualStateQ[6];
}
}
}
@@ -451,52 +452,146 @@ pybullet_initializeJointPositions(PyObject* self, PyObject* args)
return Py_None;
}
// CURRENTLY NOT SUPPORTED
// Initalize a single joint position for a specific body index
//
// This method skips any physics simulation and
// teleports all joints to the new positions.
// TODO(hellojas): test accuracy of joint position values
static PyObject*
pybullet_initializeJointPosition(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
// TODO(hellojas): initializing one joint currently not supported
// static PyObject*
// pybullet_initializeJointPosition(PyObject* self, PyObject* args)
// {
// if (0==sm)
// {
// PyErr_SetString(SpamError, "Not connected to physics server.");
// return NULL;
// }
//
// int i;
// int bodyIndex = -1;
// int jointIndex = -1;
// double jointPos = 0.0;
//
// int size= PySequence_Size(args);
//
// if (size==3) // get body index, joint index, and joint position value
// {
// if (PyArg_ParseTuple(args, "iid", &bodyIndex, &jointIndex, &jointPos))
// {
// b3SharedMemoryCommandHandle cmd_handle = b3CreatePoseCommandInit(sm, bodyIndex);
//
// // printf("initializing joint %d at %f\n", jointIndex, jointPos);
// b3CreatePoseCommandSetJointPosition(sm, cmd_handle, jointIndex, jointPos);
//
// b3SharedMemoryStatusHandle status_handle =
// b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
//
// const int status_type = b3GetStatusType(status_handle);
//
// }
// }
//
// Py_INCREF(Py_None);
// return Py_None;
// }
static void pybullet_internalGetJointPositions(int bodyIndex, int numJoints, double jointPositions[]) {
int i, j;
int numDegreeQ;
int numDegreeU;
int arrSizeOfPosAndOrn = 7;
int i;
int bodyIndex = -1;
int jointIndex = -1;
double jointPos = 0.0;
int size= PySequence_Size(args);
if (size==3) // get body index, joint index, and joint position value
{
if (PyArg_ParseTuple(args, "iid", &bodyIndex, &jointIndex, &jointPos))
{
b3SharedMemoryCommandHandle cmd_handle = b3CreatePoseCommandInit(sm, bodyIndex);
// printf("initializing joint %d at %f\n", jointIndex, jointPos);
b3CreatePoseCommandSetJointPosition(sm, cmd_handle, jointIndex, jointPos);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
const int status_type = b3GetStatusType(status_handle);
}
for (i =0;i <numJoints; i++){
jointPositions[i] = .5;
}
Py_INCREF(Py_None);
return Py_None;
{
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
const int status_type = b3GetStatusType(status_handle);
const double* actualStateQ;
b3GetStatusActualState(status_handle, 0/* body_unique_id */,
&numDegreeQ ,
&numDegreeU/* num_degree_of_freedom_u */, 0 /*root_local_inertial_frame*/,
&actualStateQ , 0 /* actual_state_q_dot */,
0 /* joint_reaction_forces */);
// printf("actual state Q, size = %lu\n", sizeof(actualStateQ.));
// printf("numjoints = %d\n", numJoints);
// printf("numDegreeQ = %d\n", numDegreeQ);
// printf("numDegreeU = %d\n", numDegreeU);
// printf("actualStateQ[0] = %f\n",actualStateQ[0]);
for (j = arrSizeOfPosAndOrn; j < numJoints + arrSizeOfPosAndOrn; j++) {
jointPositions[j - arrSizeOfPosAndOrn] = actualStateQ[j];
// printf("%d=%f\n", j, jointPositions[j - arrSizeOfPosAndOrn]);
}
}
}
// Get a list of all joint positions for a given body index
//
// Args:
// bodyIndex - integer indicating body in simulation
// Returns:
// pyListJointPos - list of positions for each joint index
//
static PyObject *
pybullet_getJointPositions(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
int bodyIndex = -1;
if (!PyArg_ParseTuple(args, "i", &bodyIndex ))
{
PyErr_SetString(SpamError, "Expected a body index (integer).");
return NULL;
}
{
PyObject *item;
PyObject *pyListJointPos;
int i;
int numJoints = b3GetNumJoints(sm,bodyIndex);
double jointPositions[numJoints];
pyListJointPos = PyTuple_New(numJoints);
// printf("joint positions size = %lu\n", sizeof(jointPositions)/sizeof(double));
pybullet_internalGetJointPositions(bodyIndex, numJoints,jointPositions);
for (i =0;i <numJoints; i++){
item = PyFloat_FromDouble(jointPositions[i]);
PyTuple_SetItem(pyListJointPos, i, item);
}
return pyListJointPos;
}
Py_INCREF(Py_None);
return Py_None;
}
// Get the a single joint info for a specific bodyIndex
//
// Args:
// bodyIndex - integer indicating body in simulation
// jointIndex - integer indicating joint for a specific body
//
// Joint information includes:
// index, name, type, q-index, u-index,
// flags, joint damping, joint friction
@@ -578,6 +673,11 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
// Returns the state of a specific joint in a given bodyIndex
//
// Args:
// bodyIndex - integer indicating body in simulation
// jointIndex - integer indicating joint for a specific body
//
// The state of a joint includes the following:
// position, velocity, force torque (6 values), and motor torque
// The returned pylist is an array of [float, float, float[6], float]
@@ -665,12 +765,12 @@ pybullet_getJointState(PyObject* self, PyObject* args)
}
// const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes
// const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats
// internal function to set a float matrix[16]
// used to initialize camera position with
// a view and projection matrix in renderImage()
//
// // Args:
// matrix - float[16] which will be set by values from objMat
static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16])
{
@@ -850,9 +950,10 @@ static PyMethodDef SpamMethods[] = {
{"initializeJointPositions", pybullet_initializeJointPositions, METH_VARARGS,
"Initialize the joint positions for all joints. This method skips any physics simulation and teleports all joints to the new positions."},
// CURRENTLY NOT SUPPORTED
// {"initializeJointPosition", pybullet_initializeJointPosition, METH_VARARGS,
// "Initialize the joint position for one joint. This method skips any physics simulation and teleports the joint to the new position."},
//
{"getJointInfo", pybullet_getJointInfo, METH_VARARGS,
"Get the joint metadata info for a joint on a body. This includes joint index, name, type, q-index and u-index."},
@@ -864,6 +965,9 @@ static PyMethodDef SpamMethods[] = {
{"getBasePositionAndOrientation", pybullet_getBasePositionAndOrientation, METH_VARARGS,
"Get the world position and orientation of the base of the object. (x,y,z) position vector and (x,y,z,w) quaternion orientation."},
{"getJointPositions", pybullet_getJointPositions, METH_VARARGS,
"Get the all the joint positions for a given body index."},
{"getNumJoints", pybullet_getNumJoints, METH_VARARGS,
"Get the number of joints for an object."},