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Modify the joint damping input check, and output error message when it doesn't pass the size check. Modify the kuka grasping example accordingly. Setting joint damping in this example was a no-op before.

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yunfeibai
2017-09-27 15:18:08 -07:00
parent adcece7927
commit 113e103bc2
2 changed files with 24 additions and 8 deletions
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2
examples/pybullet/gym/pybullet_envs/bullet/kuka.py
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@@ -34,7 +34,7 @@ class Kuka:
#restposes for null space #restposes for null space
self.rp=[0,0,0,0.5*math.pi,0,-math.pi*0.5*0.66,0] self.rp=[0,0,0,0.5*math.pi,0,-math.pi*0.5*0.66,0]
#joint damping coefficents #joint damping coefficents
self.jd=[0.1,0.1,0.1,0.1,0.1,0.1,0.1] self.jd=[0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001]
self.reset() self.reset()
def reset(self): def reset(self):

30
examples/pybullet/pybullet.c
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@@ -6735,16 +6735,32 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
hasNullSpace = 1; hasNullSpace = 1;
} }
if (numJoints && (szJointDamping == numJoints)) if (szJointDamping > 0)
{ {
int szInBytes = sizeof(double) * numJoints; // We allow the number of joint damping values to be larger than
int i; // the number of degrees of freedom (DOFs). On the server side, it does
jointDamping = (double*)malloc(szInBytes); // the check and only sets joint damping for all DOFs.
for (i = 0; i < numJoints; i++) // We can use the number of DOFs here when that is exposed. Since the
// number of joints is larger than the number of DOFs (we assume the
// joint is either fixed joint or one DOF joint), it is safe to use
// number of joints here.
if (szJointDamping < numJoints)
{ {
jointDamping[i] = pybullet_internalGetFloatFromSequence(jointDampingObj, i); PyErr_SetString(SpamError,
"calculateInverseKinematics the size of input joint damping values is smaller than the number of joints.");
return NULL;
}
else
{
int szInBytes = sizeof(double) * szJointDamping;
int i;
jointDamping = (double*)malloc(szInBytes);
for (i = 0; i < szJointDamping; i++)
{
jointDamping[i] = pybullet_internalGetFloatFromSequence(jointDampingObj, i);
}
hasJointDamping = 1;
} }
hasJointDamping = 1;
} }
if (hasPos) if (hasPos)