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Merge pull request #2167 from erwincoumans/master

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fix memleak in calculateInverseKinematics + joint limits.
This commit is contained in:
erwincoumans
2019-03-21 14:28:57 -07:00
committed by GitHub
parent 2e81714e7a 94d8ee74f7
commit 3768bbcae3
5 changed files with 746 additions and 193 deletions
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1
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -149,7 +149,6 @@ SET(BulletExampleBrowser_SRCS
../BulletRobotics/BoxStack.cpp ../BulletRobotics/BoxStack.cpp
../BulletRobotics/JointLimit.cpp ../BulletRobotics/JointLimit.cpp
# ../BulletRobotics/GraspBox.cpp # ../BulletRobotics/GraspBox.cpp
../BulletRobotics/FixJointBoxes.cpp
../TinyRenderer/geometry.cpp ../TinyRenderer/geometry.cpp
../TinyRenderer/model.cpp ../TinyRenderer/model.cpp

3
examples/ExampleBrowser/premake4.lua
View File

@@ -89,6 +89,9 @@ project "App_BulletExampleBrowser"
"main.cpp", "main.cpp",
"ExampleEntries.cpp", "ExampleEntries.cpp",
"../InverseKinematics/*", "../InverseKinematics/*",
"../BulletRobotics/FixJointBoxes.cpp",
"../BulletRobotics/BoxStack.cpp",
"../BulletRobotics/JointLimit.cpp",
"../TinyRenderer/geometry.cpp", "../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp", "../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp", "../TinyRenderer/tgaimage.cpp",

568
examples/pybullet/gym/pybullet_data/quadruped/vision60.urdf Normal file
View File

@@ -0,0 +1,568 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from vision60.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
MIT License (modified)
Copyright (c) 2018 Ghost Robotics
Authors:
Avik De <avik@ghostrobotics.io>
Tom Jacobs <tom.jacobs@ghostrobotics.io>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<robot name="ngr" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Define parameters -->
<!-- Define materials -->
<material name="gray">
<color rgba="0.5 0.5 0.5 0.7"/>
</material>
<material name="darkgray">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="purple">
<color rgba="0.5 0.0 0.5 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.2 1.0"/>
</material>
<!-- Body -->
<link name="body">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.88 0.25 0.19"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="12"/>
<!-- Uniform box -->
<inertia ixx="0.0986" ixy="0" ixz="0" iyy="0.8105" iyz="0" izz="0.8369"/>
</inertial>
<!-- Just copy geometry for collision -->
<collision>
<geometry>
<box size="0.05 0.25 0.19"/>
</geometry>
</collision>
</link>
<!-- Define our leg macro -->
<!-- red new legs -->
<!-- TODO: clean this, it should be part of main leg macro -->
<!-- Define our leg macro -->
<!-- Our four legs -->
<!-- Hip motor -->
<link name="hip0">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="8" type="revolute">
<parent link="body"/>
<child link="hip0"/>
<axis xyz="1 0 0"/>
<origin xyz="0.325 0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper0">
<visual>
<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="0" type="revolute">
<parent link="hip0"/>
<child link="upper0"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower0">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="1" type="revolute">
<parent link="upper0"/>
<child link="lower0"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe0">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe0" type="fixed">
<parent link="lower0"/>
<child link="toe0"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip1">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="purple"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="9" type="revolute">
<parent link="body"/>
<child link="hip1"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.325 0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper1">
<visual>
<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="2" type="revolute">
<parent link="hip1"/>
<child link="upper1"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower1">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="3" type="revolute">
<parent link="upper1"/>
<child link="lower1"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe1">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe1" type="fixed">
<parent link="lower1"/>
<child link="toe1"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip2">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="10" type="revolute">
<parent link="body"/>
<child link="hip2"/>
<axis xyz="1 0 0"/>
<origin xyz="0.325 -0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper2">
<visual>
<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="4" type="revolute">
<parent link="hip2"/>
<child link="upper2"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 -0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower2">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="5" type="revolute">
<parent link="upper2"/>
<child link="lower2"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe2">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe2" type="fixed">
<parent link="lower2"/>
<child link="toe2"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip3">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="purple"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="11" type="revolute">
<parent link="body"/>
<child link="hip3"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.325 -0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper3">
<visual>
<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="6" type="revolute">
<parent link="hip3"/>
<child link="upper3"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 -0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower3">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="7" type="revolute">
<parent link="upper3"/>
<child link="lower3"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe3">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe3" type="fixed">
<parent link="lower3"/>
<child link="toe3"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot>

BIN
examples/pybullet/gym/pybullet_data/random_urdfs.zip Normal file
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39
examples/pybullet/pybullet.c
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@@ -14,7 +14,6 @@
#include "../SharedMemory/physx/PhysXC_API.h" #include "../SharedMemory/physx/PhysXC_API.h"
#endif #endif
#ifdef BT_ENABLE_MUJOCO #ifdef BT_ENABLE_MUJOCO
#include "../SharedMemory/mujoco/MuJoCoPhysicsC_API.h" #include "../SharedMemory/mujoco/MuJoCoPhysicsC_API.h"
#endif #endif
@@ -2469,7 +2468,6 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
// return NULL; // return NULL;
} }
static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* args, PyObject* keywds)
{ {
int bodyUniqueId, jointIndex, controlMode; int bodyUniqueId, jointIndex, controlMode;
@@ -2578,7 +2576,6 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
} }
} }
//if (targetPositionSize == 0 && targetVelocitySize == 0) //if (targetPositionSize == 0 && targetVelocitySize == 0)
//{ //{
@@ -2621,7 +2618,6 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
break; break;
} }
#endif #endif
case CONTROL_MODE_TORQUE: case CONTROL_MODE_TORQUE:
{ {
@@ -2635,7 +2631,6 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
case CONTROL_MODE_POSITION_VELOCITY_PD: case CONTROL_MODE_POSITION_VELOCITY_PD:
case CONTROL_MODE_PD: case CONTROL_MODE_PD:
{ {
//make sure size == info.m_qSize //make sure size == info.m_qSize
if (maxVelocity > 0) if (maxVelocity > 0)
@@ -2685,7 +2680,6 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
// return NULL; // return NULL;
} }
static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args, PyObject* keywds)
{ {
int bodyUniqueId, jointIndex, controlMode; int bodyUniqueId, jointIndex, controlMode;
@@ -4250,7 +4244,6 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
PyObject* pyListVelocity; PyObject* pyListVelocity;
PyObject* pyListJointMotorTorque; PyObject* pyListJointMotorTorque;
struct b3JointSensorState2 sensorState; struct b3JointSensorState2 sensorState;
int bodyUniqueId = -1; int bodyUniqueId = -1;
@@ -4339,7 +4332,6 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
PyTuple_SetItem(pyListJointState, 3, pyListJointMotorTorque); PyTuple_SetItem(pyListJointState, 3, pyListJointMotorTorque);
return pyListJointState; return pyListJointState;
} }
else else
@@ -6805,7 +6797,6 @@ static PyObject* pybullet_enableJointForceTorqueSensor(PyObject* self, PyObject*
return NULL; return NULL;
} }
static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVertices) static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVertices)
{ {
int numVerticesOut = 0; int numVerticesOut = 0;
@@ -6846,7 +6837,6 @@ static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVe
return numVerticesOut; return numVerticesOut;
} }
static int extractUVs(PyObject* uvsObj, double* uvs, int maxNumVertices) static int extractUVs(PyObject* uvsObj, double* uvs, int maxNumVertices)
{ {
int numUVOut = 0; int numUVOut = 0;
@@ -7002,7 +6992,8 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
if (numIndices) if (numIndices)
{ {
shapeIndex = b3CreateCollisionShapeAddConcaveMesh(sm, commandHandle, meshScale, vertices, numVertices, indices, numIndices); shapeIndex = b3CreateCollisionShapeAddConcaveMesh(sm, commandHandle, meshScale, vertices, numVertices, indices, numIndices);
} else }
else
{ {
shapeIndex = b3CreateCollisionShapeAddConvexMesh(sm, commandHandle, meshScale, vertices, numVertices); shapeIndex = b3CreateCollisionShapeAddConvexMesh(sm, commandHandle, meshScale, vertices, numVertices);
} }
@@ -7783,7 +7774,6 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
free(batchPositions); free(batchPositions);
} }
for (i = 0; i < numLinkMasses; i++) for (i = 0; i < numLinkMasses; i++)
{ {
double linkMass = pybullet_internalGetFloatFromSequence(seqLinkMasses, i); double linkMass = pybullet_internalGetFloatFromSequence(seqLinkMasses, i);
@@ -9099,7 +9089,6 @@ static PyObject* pybullet_rotateVector(PyObject* self, PyObject* args, PyObject*
return Py_None; return Py_None;
} }
static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
@@ -9148,7 +9137,6 @@ static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject*
return Py_None; return Py_None;
} }
static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
@@ -9197,7 +9185,6 @@ static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyO
return Py_None; return Py_None;
} }
static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
int physicsClientId = 0; int physicsClientId = 0;
@@ -9245,7 +9232,6 @@ static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* a
return Py_None; return Py_None;
} }
static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* axisObj; PyObject* axisObj;
@@ -9287,7 +9273,6 @@ static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* a
return Py_None; return Py_None;
} }
static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
@@ -9335,7 +9320,6 @@ static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject*
return Py_None; return Py_None;
} }
static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
@@ -9383,8 +9367,6 @@ static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args
return Py_None; return Py_None;
} }
/// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo /// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo
/// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc /// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc
static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, static PyObject* pybullet_getEulerFromQuaternion(PyObject* self,
@@ -9704,6 +9686,10 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
{ {
PyErr_SetString(SpamError, PyErr_SetString(SpamError,
"calculateInverseKinematics the size of input current positions needs to be equal to the number of degrees of freedom."); "calculateInverseKinematics the size of input current positions needs to be equal to the number of degrees of freedom.");
free(lowerLimits);
free(upperLimits);
free(jointRanges);
free(restPoses);
return NULL; return NULL;
} }
else else
@@ -9795,6 +9781,11 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
free(currentPositions); free(currentPositions);
free(jointDamping); free(jointDamping);
free(lowerLimits);
free(upperLimits);
free(jointRanges);
free(restPoses);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
result = b3GetStatusInverseKinematicsJointPositions(statusHandle, result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
@@ -9885,7 +9876,6 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
int szObVel = PySequence_Size(objVelocitiesQdot); int szObVel = PySequence_Size(objVelocitiesQdot);
int szObAcc = PySequence_Size(objAccelerations); int szObAcc = PySequence_Size(objAccelerations);
if (szObVel == szObAcc) if (szObVel == szObAcc)
{ {
int szInBytesQ = sizeof(double) * szObPos; int szInBytesQ = sizeof(double) * szObPos;
@@ -9896,7 +9886,6 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
double* jointVelocitiesQdot = (double*)malloc(szInBytesQdot); double* jointVelocitiesQdot = (double*)malloc(szInBytesQdot);
double* jointAccelerations = (double*)malloc(szInBytesQdot); double* jointAccelerations = (double*)malloc(szInBytesQdot);
for (i = 0; i < szObPos; i++) for (i = 0; i < szObPos; i++)
{ {
jointPositionsQ[i] = jointPositionsQ[i] =
@@ -10216,7 +10205,6 @@ static PyObject* pybullet_calculateMassMatrix(PyObject* self, PyObject* args, Py
{ {
int byteSizeDofCount = sizeof(double) * dofCount; int byteSizeDofCount = sizeof(double) * dofCount;
massMatrix = (double*)malloc(dofCount * byteSizeDofCount); massMatrix = (double*)malloc(dofCount * byteSizeDofCount);
b3GetStatusMassMatrix(sm, statusHandle, NULL, massMatrix); b3GetStatusMassMatrix(sm, statusHandle, NULL, massMatrix);
if (massMatrix) if (massMatrix)
@@ -10665,16 +10653,12 @@ static PyMethodDef SpamMethods[] = {
{"getAxisDifferenceQuaternion", (PyCFunction)pybullet_getAxisDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS, {"getAxisDifferenceQuaternion", (PyCFunction)pybullet_getAxisDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the velocity axis difference from two quaternions."}, "Compute the velocity axis difference from two quaternions."},
{"calculateVelocityQuaternion", (PyCFunction)pybullet_calculateVelocityQuaternion, METH_VARARGS | METH_KEYWORDS, {"calculateVelocityQuaternion", (PyCFunction)pybullet_calculateVelocityQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the angular velocity given start and end quaternion and delta time."}, "Compute the angular velocity given start and end quaternion and delta time."},
{"rotateVector", (PyCFunction)pybullet_rotateVector, METH_VARARGS | METH_KEYWORDS, {"rotateVector", (PyCFunction)pybullet_rotateVector, METH_VARARGS | METH_KEYWORDS,
"Rotate a vector using a quaternion."}, "Rotate a vector using a quaternion."},
{"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS | METH_KEYWORDS, {"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS | METH_KEYWORDS,
"Given an object id, joint positions, joint velocities and joint " "Given an object id, joint positions, joint velocities and joint "
"accelerations, compute the joint forces using Inverse Dynamics"}, "accelerations, compute the joint forces using Inverse Dynamics"},
@@ -10972,7 +10956,6 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL", URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL); PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL", URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL);
PyModule_AddIntConstant(m, "URDF_MAINTAIN_LINK_ORDER", URDF_MAINTAIN_LINK_ORDER); PyModule_AddIntConstant(m, "URDF_MAINTAIN_LINK_ORDER", URDF_MAINTAIN_LINK_ORDER);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_ENABLE_SLEEPING", eActivationStateEnableSleeping); PyModule_AddIntConstant(m, "ACTIVATION_STATE_ENABLE_SLEEPING", eActivationStateEnableSleeping);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_DISABLE_SLEEPING", eActivationStateDisableSleeping); PyModule_AddIntConstant(m, "ACTIVATION_STATE_DISABLE_SLEEPING", eActivationStateDisableSleeping);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_WAKE_UP", eActivationStateWakeUp); PyModule_AddIntConstant(m, "ACTIVATION_STATE_WAKE_UP", eActivationStateWakeUp);