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Expose 'flags' option for loadURDF, to allow customization of the URDF loading process while maintaining backward compatibility.

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For example: URDF_USE_INERTIA_FROM_FILE flag. By default, URDF2Bullet will re-compute the inertia tensor based on mass and volume, because most URDF files have bogus Inertia values.
This commit is contained in:
Erwin Coumans
2017-03-27 08:30:20 -07:00
parent d78909aef9
commit 4911916937
9 changed files with 44 additions and 13 deletions
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14
examples/pybullet/pybullet.c
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@@ -693,8 +693,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int flags = 0;
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "physicsClientId", NULL};
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "flags","physicsClientId", NULL};
static char* kwlistBackwardCompatible4[] = {"fileName", "startPosX", "startPosY", "startPosZ", NULL};
static char* kwlistBackwardCompatible8[] = {"fileName", "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY", "startOrnZ", "startOrnW", NULL};
@@ -741,7 +742,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
double basePos[3];
double baseOrn[4];
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &flags, &physicsClientId))
{
return NULL;
}
@@ -790,6 +791,8 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
b3SharedMemoryCommandHandle command =
b3LoadUrdfCommandInit(sm, urdfFileName);
b3LoadUrdfCommandSetFlags(command,flags);
// setting the initial position, orientation and other arguments are
// optional
b3LoadUrdfCommandSetStartPosition(command, startPosX, startPosY, startPosZ);
@@ -3916,15 +3919,13 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
b3RequestCameraImageSelectRenderer(command, renderer);
b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
if (b3CanSubmitCommand(sm))
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
@@ -4349,7 +4350,6 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
b3SharedMemoryStatusHandle statusHandle;
int statusType;
// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
@@ -5422,6 +5422,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
PyModule_AddIntConstant(m, "B3G_F1", B3G_F1);
PyModule_AddIntConstant(m, "B3G_F2", B3G_F2);
PyModule_AddIntConstant(m, "B3G_F3", B3G_F3);