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add hand.py/hand.ino used to create this VR glove, using MuJoCo Haptix MPL hand (Apache 2 license)

Browse Source 
https://www.youtube.com/watch?v=VMJyZtHQL50
added b3InitSyncBodyInfoCommand, to retrieve body info, when connecting to a server with existing bodies
pybullet will call this b3InitSyncBodyInfoCommand automatically after connecting
Avoid overriding the py.setVRCameraState setting in VR
This commit is contained in:
Erwin Coumans
2017-01-20 18:13:24 -08:00
parent d81d62a70b
commit 64957ece9f
40 changed files with 837 additions and 74 deletions
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130
examples/pybullet/pybullet.c
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@@ -315,9 +315,25 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
if (freeIndex>=0)
{
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
sPhysicsClients1[freeIndex] = sm;
sNumPhysicsClients++;
command = b3InitSyncBodyInfoCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
#if 0
if (statusType != CMD_BODY_INFO_COMPLETED) {
PyErr_SetString(SpamError, "b3InitSyncBodyInfoCommand failed.");
return NULL;
}
#endif
}
}
return PyInt_FromLong(freeIndex);
}
@@ -1989,24 +2005,29 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args,PyObject*
pyListJointState = PyTuple_New(sensorStateSize);
pyListJointForceTorque = PyTuple_New(forceTorqueSize);
b3GetJointState(sm, status_handle, jointIndex, &sensorState);
if (b3GetJointState(sm, status_handle, jointIndex, &sensorState))
{
PyTuple_SetItem(pyListJointState, 0,
PyFloat_FromDouble(sensorState.m_jointPosition));
PyTuple_SetItem(pyListJointState, 1,
PyFloat_FromDouble(sensorState.m_jointVelocity));
PyTuple_SetItem(pyListJointState, 0,
PyFloat_FromDouble(sensorState.m_jointPosition));
PyTuple_SetItem(pyListJointState, 1,
PyFloat_FromDouble(sensorState.m_jointVelocity));
for (j = 0; j < forceTorqueSize; j++) {
PyTuple_SetItem(pyListJointForceTorque, j,
PyFloat_FromDouble(sensorState.m_jointForceTorque[j]));
}
for (j = 0; j < forceTorqueSize; j++) {
PyTuple_SetItem(pyListJointForceTorque, j,
PyFloat_FromDouble(sensorState.m_jointForceTorque[j]));
}
PyTuple_SetItem(pyListJointState, 2, pyListJointForceTorque);
PyTuple_SetItem(pyListJointState, 2, pyListJointForceTorque);
PyTuple_SetItem(pyListJointState, 3,
PyFloat_FromDouble(sensorState.m_jointMotorTorque));
PyTuple_SetItem(pyListJointState, 3,
PyFloat_FromDouble(sensorState.m_jointMotorTorque));
return pyListJointState;
return pyListJointState;
} else
{
PyErr_SetString(SpamError, "getJointState failed (2).");
return NULL;
}
}
}
@@ -2070,54 +2091,55 @@ b3PhysicsClientHandle sm = 0;
return NULL;
}
b3GetLinkState(sm, status_handle, linkIndex, &linkState);
if (b3GetLinkState(sm, status_handle, linkIndex, &linkState))
{
pyLinkStateWorldPosition = PyTuple_New(3);
for (i = 0; i < 3; ++i) {
PyTuple_SetItem(pyLinkStateWorldPosition, i,
PyFloat_FromDouble(linkState.m_worldPosition[i]));
}
pyLinkStateWorldPosition = PyTuple_New(3);
for (i = 0; i < 3; ++i) {
PyTuple_SetItem(pyLinkStateWorldPosition, i,
PyFloat_FromDouble(linkState.m_worldPosition[i]));
}
pyLinkStateWorldOrientation = PyTuple_New(4);
for (i = 0; i < 4; ++i) {
PyTuple_SetItem(pyLinkStateWorldOrientation, i,
PyFloat_FromDouble(linkState.m_worldOrientation[i]));
}
pyLinkStateWorldOrientation = PyTuple_New(4);
for (i = 0; i < 4; ++i) {
PyTuple_SetItem(pyLinkStateWorldOrientation, i,
PyFloat_FromDouble(linkState.m_worldOrientation[i]));
}
pyLinkStateLocalInertialPosition = PyTuple_New(3);
for (i = 0; i < 3; ++i) {
PyTuple_SetItem(pyLinkStateLocalInertialPosition, i,
PyFloat_FromDouble(linkState.m_localInertialPosition[i]));
}
pyLinkStateLocalInertialPosition = PyTuple_New(3);
for (i = 0; i < 3; ++i) {
PyTuple_SetItem(pyLinkStateLocalInertialPosition, i,
PyFloat_FromDouble(linkState.m_localInertialPosition[i]));
}
pyLinkStateLocalInertialOrientation = PyTuple_New(4);
for (i = 0; i < 4; ++i) {
PyTuple_SetItem(pyLinkStateLocalInertialOrientation, i,
PyFloat_FromDouble(linkState.m_localInertialOrientation[i]));
}
pyLinkStateLocalInertialOrientation = PyTuple_New(4);
for (i = 0; i < 4; ++i) {
PyTuple_SetItem(pyLinkStateLocalInertialOrientation, i,
PyFloat_FromDouble(linkState.m_localInertialOrientation[i]));
}
pyLinkStateWorldLinkFramePosition = PyTuple_New(3);
for (i = 0; i < 3; ++i) {
PyTuple_SetItem(pyLinkStateWorldLinkFramePosition , i,
PyFloat_FromDouble(linkState.m_worldLinkFramePosition[i]));
}
pyLinkStateWorldLinkFramePosition = PyTuple_New(3);
for (i = 0; i < 3; ++i) {
PyTuple_SetItem(pyLinkStateWorldLinkFramePosition , i,
PyFloat_FromDouble(linkState.m_worldLinkFramePosition[i]));
}
pyLinkStateWorldLinkFrameOrientation = PyTuple_New(4);
for (i = 0; i < 4; ++i) {
PyTuple_SetItem(pyLinkStateWorldLinkFrameOrientation, i,
PyFloat_FromDouble(linkState.m_worldLinkFrameOrientation[i]));
}
pyLinkStateWorldLinkFrameOrientation = PyTuple_New(4);
for (i = 0; i < 4; ++i) {
PyTuple_SetItem(pyLinkStateWorldLinkFrameOrientation, i,
PyFloat_FromDouble(linkState.m_worldLinkFrameOrientation[i]));
}
pyLinkState = PyTuple_New(6);
PyTuple_SetItem(pyLinkState, 0, pyLinkStateWorldPosition);
PyTuple_SetItem(pyLinkState, 1, pyLinkStateWorldOrientation);
PyTuple_SetItem(pyLinkState, 2, pyLinkStateLocalInertialPosition);
PyTuple_SetItem(pyLinkState, 3, pyLinkStateLocalInertialOrientation);
PyTuple_SetItem(pyLinkState, 4, pyLinkStateWorldLinkFramePosition );
PyTuple_SetItem(pyLinkState, 5, pyLinkStateWorldLinkFrameOrientation);
pyLinkState = PyTuple_New(6);
PyTuple_SetItem(pyLinkState, 0, pyLinkStateWorldPosition);
PyTuple_SetItem(pyLinkState, 1, pyLinkStateWorldOrientation);
PyTuple_SetItem(pyLinkState, 2, pyLinkStateLocalInertialPosition);
PyTuple_SetItem(pyLinkState, 3, pyLinkStateLocalInertialOrientation);
PyTuple_SetItem(pyLinkState, 4, pyLinkStateWorldLinkFramePosition );
PyTuple_SetItem(pyLinkState, 5, pyLinkStateWorldLinkFrameOrientation);
return pyLinkState;
return pyLinkState;
}
}
}