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pybullet, deal with overflow of joints (maximum of 128 joints/links per multibody at the moment)

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increase from 64 to 128 joints in shared memory API/pybullet
fix potential issue in tinyrenderer, related to missing segmentation mask buffer
report error if CMD_REQUEST_ACTUAL_STATE command on a multibody that exceed the number of links,
todo: stream data to allow arbitrary large number of links in shared memory API
This commit is contained in:
Erwin Coumans
2016-08-17 19:35:52 -07:00
parent 7c9441c3f5
commit 17c16ccfa0
4 changed files with 58 additions and 39 deletions
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6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1602,6 +1602,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int totalDegreeOfFreedomQ = 0;
int totalDegreeOfFreedomU = 0;
if (mb->getNumLinks()>= MAX_DEGREE_OF_FREEDOM)
{
serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED;
hasStatus = true;
break;
}
//always add the base, even for static (non-moving objects)
//so that we can easily move the 'fixed' base when needed

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -27,7 +27,7 @@
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 64
#define MAX_DEGREE_OF_FREEDOM 128
#define MAX_NUM_SENSORS 256
#define MAX_URDF_FILENAME_LENGTH 1024
#define MAX_SDF_FILENAME_LENGTH 1024

2
examples/TinyRenderer/TinyRenderer.cpp
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@@ -268,7 +268,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
renderData.m_viewportMatrix = viewport(0,0,width, height);
b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
int* segmentationMaskBufferPtr = &renderData.m_segmentationMaskBufferPtr->at(0);
int* segmentationMaskBufferPtr = renderData.m_segmentationMaskBufferPtr?&renderData.m_segmentationMaskBufferPtr->at(0):0;
TGAImage& frame = renderData.m_rgbColorBuffer;

83
examples/pybullet/pybullet.c
View File

@@ -552,7 +552,11 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
const int status_type = b3GetStatusType(status_handle);
if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
PyErr_SetString(SpamError, "getBasePositionAndOrientation failed.");
return NULL;
}
const double* actualStateQ;
// const double* jointReactionForces[];
int i;
@@ -848,42 +852,44 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
// printf("body index = %d, joint index =%d\n", bodyIndex, jointIndex);
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
pyListJointInfo = PyTuple_New(jointInfoSize);
b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
if (b3GetJointInfo(sm, bodyIndex, jointIndex, &info))
{
// printf("Joint%d %s, type %d, at q-index %d and u-index %d\n",
// info.m_jointIndex,
// info.m_jointName,
// info.m_jointType,
// info.m_qIndex,
// info.m_uIndex);
// printf(" flags=%d jointDamping=%f jointFriction=%f\n",
// info.m_flags,
// info.m_jointDamping,
// info.m_jointFriction);
PyTuple_SetItem(pyListJointInfo, 0,
PyInt_FromLong(info.m_jointIndex));
PyTuple_SetItem(pyListJointInfo, 1,
PyString_FromString(info.m_jointName));
PyTuple_SetItem(pyListJointInfo, 2,
PyInt_FromLong(info.m_jointType));
PyTuple_SetItem(pyListJointInfo, 3,
PyInt_FromLong(info.m_qIndex));
PyTuple_SetItem(pyListJointInfo, 4,
PyInt_FromLong(info.m_uIndex));
PyTuple_SetItem(pyListJointInfo, 5,
PyInt_FromLong(info.m_flags));
PyTuple_SetItem(pyListJointInfo, 6,
PyFloat_FromDouble(info.m_jointDamping));
PyTuple_SetItem(pyListJointInfo, 7,
PyFloat_FromDouble(info.m_jointFriction));
return pyListJointInfo;
// printf("Joint%d %s, type %d, at q-index %d and u-index %d\n",
// info.m_jointIndex,
// info.m_jointName,
// info.m_jointType,
// info.m_qIndex,
// info.m_uIndex);
// printf(" flags=%d jointDamping=%f jointFriction=%f\n",
// info.m_flags,
// info.m_jointDamping,
// info.m_jointFriction);
PyTuple_SetItem(pyListJointInfo, 0,
PyInt_FromLong(info.m_jointIndex));
PyTuple_SetItem(pyListJointInfo, 1,
PyString_FromString(info.m_jointName));
PyTuple_SetItem(pyListJointInfo, 2,
PyInt_FromLong(info.m_jointType));
PyTuple_SetItem(pyListJointInfo, 3,
PyInt_FromLong(info.m_qIndex));
PyTuple_SetItem(pyListJointInfo, 4,
PyInt_FromLong(info.m_uIndex));
PyTuple_SetItem(pyListJointInfo, 5,
PyInt_FromLong(info.m_flags));
PyTuple_SetItem(pyListJointInfo, 6,
PyFloat_FromDouble(info.m_jointDamping));
PyTuple_SetItem(pyListJointInfo, 7,
PyFloat_FromDouble(info.m_jointFriction));
return pyListJointInfo;
}
else
{
PyErr_SetString(SpamError, "GetJointInfo failed.");
return NULL;
}
}
}
@@ -934,12 +940,19 @@ pybullet_getJointState(PyObject* self, PyObject* args)
{
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex))
{
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle);
if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
PyErr_SetString(SpamError, "getBasePositionAndOrientation failed.");
return NULL;
}
pyListJointState = PyTuple_New(sensorStateSize);
pyListJointForceTorque = PyTuple_New(forceTorqueSize);