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add pybullet getBaseVelocity / resetBaseVelocity

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C-API b3CreatePoseCommandSetBaseLinearVelocity/b3CreatePoseCommandSetBaseAngularVelocity
This commit is contained in:
Erwin Coumans
2016-11-28 15:11:34 -08:00
parent 2e372a525e
commit 2d42c7963a
5 changed files with 373 additions and 118 deletions
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420
examples/pybullet/pybullet.c
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@@ -30,6 +30,123 @@ enum eCONNECT_METHOD {
static PyObject* SpamError;
static b3PhysicsClientHandle sm = 0;
static double pybullet_internalGetFloatFromSequence(PyObject* seq, int index) {
double v = 0.0;
PyObject* item;
if (PyList_Check(seq)) {
item = PyList_GET_ITEM(seq, index);
v = PyFloat_AsDouble(item);
}
else {
item = PyTuple_GET_ITEM(seq, index);
v = PyFloat_AsDouble(item);
}
return v;
}
// 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]) {
int i, len;
PyObject* seq;
seq = PySequence_Fast(objMat, "expected a sequence");
if (seq)
{
len = PySequence_Size(objMat);
if (len == 16) {
for (i = 0; i < len; i++) {
matrix[i] = pybullet_internalGetFloatFromSequence(seq, i);
}
Py_DECREF(seq);
return 1;
}
Py_DECREF(seq);
}
return 0;
}
// internal function to set a float vector[3]
// used to initialize camera position with
// a view and projection matrix in renderImage()
//
// // Args:
// vector - float[3] which will be set by values from objMat
static int pybullet_internalSetVector(PyObject* objVec, float vector[3]) {
int i, len;
PyObject* seq = 0;
if (objVec == NULL)
return 0;
seq = PySequence_Fast(objVec, "expected a sequence");
if (seq)
{
len = PySequence_Size(objVec);
if (len == 3) {
for (i = 0; i < len; i++) {
vector[i] = pybullet_internalGetFloatFromSequence(seq, i);
}
Py_DECREF(seq);
return 1;
}
Py_DECREF(seq);
}
return 0;
}
// vector - double[3] which will be set by values from obVec
static int pybullet_internalSetVectord(PyObject* obVec, double vector[3]) {
int i, len;
PyObject* seq;
if (obVec == NULL)
return 0;
seq = PySequence_Fast(obVec, "expected a sequence");
if (seq)
{
len = PySequence_Size(obVec);
if (len == 3) {
for (i = 0; i < len; i++) {
vector[i] = pybullet_internalGetFloatFromSequence(seq, i);
}
Py_DECREF(seq);
return 1;
}
Py_DECREF(seq);
}
return 0;
}
// vector - double[3] which will be set by values from obVec
static int pybullet_internalSetVector4d(PyObject* obVec, double vector[4]) {
int i, len;
PyObject* seq;
if (obVec == NULL)
return 0;
seq = PySequence_Fast(obVec, "expected a sequence");
len = PySequence_Size(obVec);
if (len == 4) {
for (i = 0; i < len; i++) {
vector[i] = pybullet_internalGetFloatFromSequence(seq, i);
}
Py_DECREF(seq);
return 1;
}
Py_DECREF(seq);
return 0;
}
// Step through one timestep of the simulation
static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args) {
if (0 == sm) {
@@ -371,19 +488,6 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args) {
return PyLong_FromLong(bodyIndex);
}
static double pybullet_internalGetFloatFromSequence(PyObject* seq, int index) {
double v = 0.0;
PyObject* item;
if (PyList_Check(seq)) {
item = PyList_GET_ITEM(seq, index);
v = PyFloat_AsDouble(item);
} else {
item = PyTuple_GET_ITEM(seq, index);
v = PyFloat_AsDouble(item);
}
return v;
}
@@ -768,11 +872,68 @@ pybullet_setDefaultContactERP(PyObject* self, PyObject* args)
return Py_None;
}
static int pybullet_internalGetBaseVelocity(
int bodyIndex, double baseLinearVelocity[3], double baseAngularVelocity[3]) {
baseLinearVelocity[0] = 0.;
baseLinearVelocity[1] = 0.;
baseLinearVelocity[2] = 0.;
baseAngularVelocity[0] = 0.;
baseAngularVelocity[1] = 0.;
baseAngularVelocity[2] = 0.;
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
return 0;
}
{
{
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
const int status_type = b3GetStatusType(status_handle);
const double* actualStateQdot;
// const double* jointReactionForces[];
if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED) {
PyErr_SetString(SpamError, "getBaseVelocity failed.");
return 0;
}
b3GetStatusActualState(
status_handle, 0 /* body_unique_id */,
0 /* num_degree_of_freedom_q */, 0 /* num_degree_of_freedom_u */,
0 /*root_local_inertial_frame*/, 0,
&actualStateQdot, 0 /* joint_reaction_forces */);
// printf("joint reaction forces=");
// for (i=0; i < (sizeof(jointReactionForces)/sizeof(double)); i++) {
// printf("%f ", jointReactionForces[i]);
// }
// now, position x,y,z = actualStateQ[0],actualStateQ[1],actualStateQ[2]
// and orientation x,y,z,w =
// actualStateQ[3],actualStateQ[4],actualStateQ[5],actualStateQ[6]
baseLinearVelocity[0] = actualStateQdot[0];
baseLinearVelocity[1] = actualStateQdot[1];
baseLinearVelocity[2] = actualStateQdot[2];
baseAngularVelocity[0] = actualStateQdot[3];
baseAngularVelocity[1] = actualStateQdot[4];
baseAngularVelocity[2] = actualStateQdot[5];
}
}
return 1;
}
// Internal function used to get the base position and orientation
// Orientation is returned in quaternions
static int pybullet_internalGetBasePositionAndOrientation(
int bodyIndex, double basePosition[3], double baseOrientation[3]) {
int bodyIndex, double basePosition[3], double baseOrientation[4]) {
basePosition[0] = 0.;
basePosition[1] = 0.;
basePosition[2] = 0.;
@@ -855,8 +1016,7 @@ static PyObject* pybullet_getBasePositionAndOrientation(PyObject* self,
if (0 == pybullet_internalGetBasePositionAndOrientation(
bodyIndex, basePosition, baseOrientation)) {
PyErr_SetString(SpamError,
"GetBasePositionAndOrientation failed (#joints/links "
"exceeds maximum?).");
"GetBasePositionAndOrientation failed.");
return NULL;
}
@@ -891,6 +1051,62 @@ static PyObject* pybullet_getBasePositionAndOrientation(PyObject* self,
}
}
static PyObject* pybullet_getBaseVelocity(PyObject* self,
PyObject* args) {
int bodyIndex = -1;
double baseLinearVelocity[3];
double baseAngularVelocity[3];
PyObject* pylistLinVel=0;
PyObject* pylistAngVel=0;
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (!PyArg_ParseTuple(args, "i", &bodyIndex)) {
PyErr_SetString(SpamError, "Expected a body index (integer).");
return NULL;
}
if (0 == pybullet_internalGetBaseVelocity(
bodyIndex, baseLinearVelocity, baseAngularVelocity)) {
PyErr_SetString(SpamError,
"getBaseVelocity failed.");
return NULL;
}
{
PyObject* item;
int i;
int num = 3;
pylistLinVel = PyTuple_New(num);
for (i = 0; i < num; i++) {
item = PyFloat_FromDouble(baseLinearVelocity[i]);
PyTuple_SetItem(pylistLinVel, i, item);
}
}
{
PyObject* item;
int i;
int num = 3;
pylistAngVel = PyTuple_New(num);
for (i = 0; i < num; i++) {
item = PyFloat_FromDouble(baseAngularVelocity[i]);
PyTuple_SetItem(pylistAngVel, i, item);
}
}
{
PyObject* pylist;
pylist = PyTuple_New(2);
PyTuple_SetItem(pylist, 0, pylistLinVel);
PyTuple_SetItem(pylist, 1, pylistAngVel);
return pylist;
}
}
static PyObject* pybullet_getNumBodies(PyObject* self, PyObject* args)
{
if (0 == sm) {
@@ -1035,6 +1251,66 @@ static PyObject* pybullet_resetJointState(PyObject* self, PyObject* args) {
return NULL;
}
static PyObject* pybullet_resetBaseVelocity(PyObject* self, PyObject* args, PyObject *keywds)
{
static char *kwlist[] = { "objectUniqueId", "linearVelocity", "angularVelocity", NULL };
if (0 == sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
int bodyIndex=0;
PyObject* linVelObj=0;
PyObject* angVelObj=0;
double linVel[3] = { 0, 0, 0 };
double angVel[3] = { 0, 0, 0 };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OO", kwlist, &bodyIndex, &linVelObj, &angVelObj))
{
return NULL;
}
if (linVelObj || angVelObj)
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
commandHandle = b3CreatePoseCommandInit(sm, bodyIndex);
if (linVelObj)
{
pybullet_internalSetVectord(linVelObj, linVel);
b3CreatePoseCommandSetBaseLinearVelocity(commandHandle, linVel);
}
if (angVelObj)
{
pybullet_internalSetVectord(angVelObj, angVel);
b3CreatePoseCommandSetBaseAngularVelocity(commandHandle, angVel);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
Py_INCREF(Py_None);
return Py_None;
}
else
{
PyErr_SetString(SpamError, "expected at least linearVelocity and/or angularVelocity.");
return NULL;
}
}
PyErr_SetString(SpamError, "error in resetJointState.");
return NULL;
}
// Reset the position and orientation of the base/root link, position [x,y,z]
// and orientation quaternion [x,y,z,w]
static PyObject* pybullet_resetBasePositionAndOrientation(PyObject* self,
@@ -1366,105 +1642,6 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args) {
return Py_None;
}
// 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]) {
int i, len;
PyObject* seq;
seq = PySequence_Fast(objMat, "expected a sequence");
if (seq)
{
len = PySequence_Size(objMat);
if (len == 16) {
for (i = 0; i < len; i++) {
matrix[i] = pybullet_internalGetFloatFromSequence(seq, i);
}
Py_DECREF(seq);
return 1;
}
Py_DECREF(seq);
}
return 0;
}
// internal function to set a float vector[3]
// used to initialize camera position with
// a view and projection matrix in renderImage()
//
// // Args:
// vector - float[3] which will be set by values from objMat
static int pybullet_internalSetVector(PyObject* objVec, float vector[3]) {
int i, len;
PyObject* seq=0;
if (objVec==NULL)
return 0;
seq = PySequence_Fast(objVec, "expected a sequence");
if (seq)
{
len = PySequence_Size(objVec);
if (len == 3) {
for (i = 0; i < len; i++) {
vector[i] = pybullet_internalGetFloatFromSequence(seq, i);
}
Py_DECREF(seq);
return 1;
}
Py_DECREF(seq);
}
return 0;
}
// vector - double[3] which will be set by values from obVec
static int pybullet_internalSetVectord(PyObject* obVec, double vector[3]) {
int i, len;
PyObject* seq;
if (obVec==NULL)
return 0;
seq = PySequence_Fast(obVec, "expected a sequence");
if (seq)
{
len = PySequence_Size(obVec);
if (len == 3) {
for (i = 0; i < len; i++) {
vector[i] = pybullet_internalGetFloatFromSequence(seq, i);
}
Py_DECREF(seq);
return 1;
}
Py_DECREF(seq);
}
return 0;
}
// vector - double[3] which will be set by values from obVec
static int pybullet_internalSetVector4d(PyObject* obVec, double vector[4]) {
int i, len;
PyObject* seq;
if (obVec==NULL)
return 0;
seq = PySequence_Fast(obVec, "expected a sequence");
len = PySequence_Size(obVec);
if (len == 4) {
for (i = 0; i < len; i++) {
vector[i] = pybullet_internalGetFloatFromSequence(seq, i);
}
Py_DECREF(seq);
return 1;
}
Py_DECREF(seq);
return 0;
}
static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObject *keywds)
{
@@ -3361,6 +3538,19 @@ static PyMethodDef SpamMethods[] = {
"instantaneously, not through physics simulation. (x,y,z) position vector "
"and (x,y,z,w) quaternion orientation."},
{ "getBaseVelocity", pybullet_getBaseVelocity,
METH_VARARGS,
"Get the linear and angular velocity of the base of the object "
" in world space coordinates. "
"(x,y,z) linear velocity vector and (x,y,z) angular velocity vector." },
{ "resetBaseVelocity", (PyCFunction)pybullet_resetBaseVelocity, METH_VARARGS | METH_KEYWORDS,
"Reset the linear and/or angular velocity of the base of the object "
" in world space coordinates. "
"linearVelocity (x,y,z) and angularVelocity (x,y,z)." },
{"getNumJoints", pybullet_getNumJoints, METH_VARARGS,
"Get the number of joints for an object."},