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tweaks in pybullet and shared memory C-API:

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allow to reset the state of a single joint
allow to set the target/mode for a single joint motor at a time
rename pybullet API: initializeJointPositions -> resetJointState
This commit is contained in:
Erwin Coumans (Google)
2016-06-24 07:31:17 -07:00
parent 2cd0eba257
commit 6d1948e79e
7 changed files with 463 additions and 413 deletions
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2
examples/BasicDemo/BasicExample.cpp
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@@ -42,7 +42,7 @@ struct BasicExample : public CommonRigidBodyBase
float dist = 41;
float pitch = 52;
float yaw = 35;
float targetPos[3]={0,0.46,0};
float targetPos[3]={0,0,0};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};

33
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -167,6 +167,10 @@ b3SharedMemoryCommandHandle b3JointControlCommandInit2( b3PhysicsClientHandle ph
command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = bodyUniqueId;
command->m_updateFlags = 0;
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[i] = 0;
}
return (b3SharedMemoryCommandHandle) command;
}
@@ -176,6 +180,7 @@ int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle,
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateQ[qIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_Q;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[qIndex] |= SIM_DESIRED_STATE_HAS_Q;
return 0;
}
@@ -186,6 +191,8 @@ int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex,
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KP;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_KP;
return 0;
}
@@ -195,6 +202,7 @@ int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex,
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KD;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_KD;
return 0;
}
@@ -205,6 +213,8 @@ int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle,
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_QDOT;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_QDOT;
return 0;
}
@@ -215,6 +225,8 @@ int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_MAX_FORCE;
return 0;
}
@@ -224,6 +236,8 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_MAX_FORCE;
return 0;
}
@@ -372,6 +386,7 @@ int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHan
b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
@@ -380,6 +395,11 @@ b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physCl
command->m_type = CMD_INIT_POSE;
command->m_updateFlags =0;
command->m_initPoseArgs.m_bodyUniqueId = bodyIndex;
//a bit slow, initialing the full range to zero...
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command->m_initPoseArgs.m_hasInitialStateQ[i] = 0;
}
return (b3SharedMemoryCommandHandle) command;
}
@@ -392,6 +412,11 @@ int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle
command->m_initPoseArgs.m_initialStateQ[0] = startPosX;
command->m_initPoseArgs.m_initialStateQ[1] = startPosY;
command->m_initPoseArgs.m_initialStateQ[2] = startPosZ;
command->m_initPoseArgs.m_hasInitialStateQ[0] = 1;
command->m_initPoseArgs.m_hasInitialStateQ[1] = 1;
command->m_initPoseArgs.m_hasInitialStateQ[2] = 1;
return 0;
}
@@ -405,6 +430,12 @@ int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHan
command->m_initPoseArgs.m_initialStateQ[4] = startOrnY;
command->m_initPoseArgs.m_initialStateQ[5] = startOrnZ;
command->m_initPoseArgs.m_initialStateQ[6] = startOrnW;
command->m_initPoseArgs.m_hasInitialStateQ[3] = 1;
command->m_initPoseArgs.m_hasInitialStateQ[4] = 1;
command->m_initPoseArgs.m_hasInitialStateQ[5] = 1;
command->m_initPoseArgs.m_hasInitialStateQ[6] = 1;
return 0;
}
@@ -417,6 +448,7 @@ int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHand
for (int i=0;i<numJointPositions;i++)
{
command->m_initPoseArgs.m_initialStateQ[i+7] = jointPositions[i];
command->m_initPoseArgs.m_hasInitialStateQ[i+7] = 1;
}
return 0;
}
@@ -433,6 +465,7 @@ int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3Shar
if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0)
{
command->m_initPoseArgs.m_initialStateQ[info.m_qIndex] = jointPosition;
command->m_initPoseArgs.m_hasInitialStateQ[info.m_qIndex] = 1;
}
return 0;
}

7
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -99,15 +99,16 @@ b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClien
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
///Set joint control variables such as desired position/angle, desired velocity,
///Set joint motor control variables such as desired position/angle, desired velocity,
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
b3SharedMemoryCommandHandle b3JointControlCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode);
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
//Only use when controlMode is CONTROL_MODE_VELOCITY
///Only use when controlMode is CONTROL_MODE_VELOCITY
int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); /* find a better name for dof/q/u indices, point to b3JointInfo */
int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
///Only use if when controlMode is CONTROL_MODE_TORQUE,

579
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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File diff suppressed because it is too large Load Diff

4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -115,6 +115,7 @@ enum EnumInitPoseFlags
struct InitPoseArgs
{
int m_bodyUniqueId;
int m_hasInitialStateQ[MAX_DEGREE_OF_FREEDOM];
double m_initialStateQ[MAX_DEGREE_OF_FREEDOM];
};
@@ -179,11 +180,14 @@ struct SendDesiredStateArgs
double m_Kp[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link
double m_Kd[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link
int m_hasDesiredStateFlags[MAX_DEGREE_OF_FREEDOM];
//desired state is only written by the client, read-only access by server is expected
//m_desiredStateQ is indexed by position variables,
//starting with 3 base position variables, 4 base orientation variables (quaternion), then link position variables
double m_desiredStateQ[MAX_DEGREE_OF_FREEDOM];
//m_desiredStateQdot is index by velocity degrees of freedom, 3 linear and 3 angular variables for the base and then link velocity variables
double m_desiredStateQdot[MAX_DEGREE_OF_FREEDOM];

247
examples/pybullet/pybullet.c
View File

@@ -3,6 +3,7 @@
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
#ifdef __APPLE__
#include <Python/Python.h>
#else
@@ -139,9 +140,11 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
int bodyIndex = -1;
const char* urdfFileName="";
float startPosX =0;
float startPosY =0;
float startPosZ = 1;
float startPosY =0;
float startPosZ = 0;
float startOrnX = 0;
float startOrnY = 0;
float startOrnZ = 0;
@@ -282,7 +285,7 @@ pybullet_resetSimulation(PyObject* self, PyObject* args)
return Py_None;
}
static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
{
//todo(erwincoumans): set max forces, kp, kd
@@ -296,25 +299,22 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
size= PySequence_Size(args);
if (size==3)
if (size==4)
{
int bodyIndex, controlMode;
PyObject* targetValues;
if (PyArg_ParseTuple(args, "iiO", &bodyIndex, &controlMode, &targetValues))
int bodyIndex, jointIndex, controlMode;
double targetValue;
if (PyArg_ParseTuple(args, "iiid", &bodyIndex, &jointIndex, &controlMode, &targetValue))
{
PyObject* seq;
int numJoints, len;
seq = PySequence_Fast(targetValues, "expected a sequence");
len = PySequence_Size(targetValues);
numJoints = b3GetNumJoints(sm,bodyIndex);
int numJoints;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int qIndex;
if (len!=numJoints)
{
PyErr_SetString(SpamError, "Number of control target values doesn't match the number of joints.");
Py_DECREF(seq);
struct b3JointInfo info;
numJoints = b3GetNumJoints(sm,bodyIndex);
if ((jointIndex >= numJoints) || (jointIndex < 0))
{
PyErr_SetString(SpamError, "Joint index out-of-range.");
return NULL;
}
@@ -323,49 +323,43 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD))
{
PyErr_SetString(SpamError, "Illegral control mode.");
Py_DECREF(seq);
return NULL;
}
commandHandle = b3JointControlCommandInit2(sm, bodyIndex,controlMode);
for (qIndex=0;qIndex<numJoints;qIndex++)
{
float value = pybullet_internalGetFloatFromSequence(seq,qIndex);
switch (controlMode)
{
case CONTROL_MODE_VELOCITY:
{
b3JointControlSetDesiredVelocity(commandHandle, 6+qIndex, value);
b3JointControlSetKd(commandHandle,6+qIndex,1);
b3JointControlSetMaximumForce(commandHandle,6+qIndex,10000);
break;
}
case CONTROL_MODE_TORQUE:
{
b3JointControlSetDesiredForceTorque(commandHandle, 6+qIndex, value);
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
{
b3JointControlSetDesiredPosition( commandHandle, 7+qIndex, value);
b3JointControlSetKp(commandHandle,6+qIndex,1);
b3JointControlSetMaximumForce(commandHandle,6+qIndex,10000);
break;
}
default:
{
}
};
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
Py_DECREF(seq);
b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
switch (controlMode)
{
case CONTROL_MODE_VELOCITY:
{
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue);
b3JointControlSetKd(commandHandle,info.m_uIndex,1);
b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,10000);
break;
}
case CONTROL_MODE_TORQUE:
{
b3JointControlSetDesiredForceTorque(commandHandle, info.m_uIndex, targetValue);
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
{
b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue);
b3JointControlSetKp(commandHandle,info.m_uIndex,1);
b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,10000);
break;
}
default:
{
}
};
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
Py_INCREF(Py_None);
return Py_None;
}
@@ -560,7 +554,7 @@ pybullet_getNumJoints(PyObject* self, PyObject* args)
// Initalize all joint positions given a list of values
static PyObject*
pybullet_initializeJointPositions(PyObject* self, PyObject* args)
pybullet_resetJointState(PyObject* self, PyObject* args)
{
int size;
if (0==sm)
@@ -572,44 +566,36 @@ pybullet_initializeJointPositions(PyObject* self, PyObject* args)
size= PySequence_Size(args);
if (size==2)
if (size==3)
{
int bodyIndex;
PyObject* targetValues;
if (PyArg_ParseTuple(args, "iO", &bodyIndex, &targetValues))
int jointIndex;
double targetValue;
if (PyArg_ParseTuple(args, "iid", &bodyIndex, &jointIndex, &targetValue))
{
PyObject* seq;
int numJoints, len;
seq = PySequence_Fast(targetValues, "expected a sequence");
len = PySequence_Size(targetValues);
numJoints = b3GetNumJoints(sm,bodyIndex);
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int qIndex;
if (len!=numJoints)
{
PyErr_SetString(SpamError, "Number of joint position values doesn't match the number of joints.");
Py_DECREF(seq);
int numJoints;
numJoints = b3GetNumJoints(sm,bodyIndex);
if ((jointIndex >= numJoints) || (jointIndex < 0))
{
PyErr_SetString(SpamError, "Joint index out-of-range.");
return NULL;
}
commandHandle = b3CreatePoseCommandInit(sm, bodyIndex);
commandHandle = b3CreatePoseCommandInit(sm, bodyIndex);
b3CreatePoseCommandSetJointPosition(sm, commandHandle, jointIndex, targetValue);
for (qIndex=0;qIndex<numJoints;qIndex++)
{
float value = pybullet_internalGetFloatFromSequence(seq,qIndex);
b3CreatePoseCommandSetJointPosition(sm, commandHandle, qIndex, value);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
Py_DECREF(seq);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
Py_INCREF(Py_None);
return Py_None;
}
}
PyErr_SetString(SpamError, "error in initializeJointPositions.");
PyErr_SetString(SpamError, "error in resetJointState.");
return NULL;
}
@@ -658,7 +644,7 @@ pybullet_initializeJointPositions(PyObject* self, PyObject* args)
// Py_INCREF(Py_None);
// return Py_None;
// }
#if 0
static void pybullet_internalGetJointPositions(int bodyIndex, int numJoints, double jointPositions[]) {
int i, j;
int numDegreeQ;
@@ -746,7 +732,7 @@ pybullet_getJointPositions(PyObject* self, PyObject* args)
Py_INCREF(Py_None);
return Py_None;
}
#endif
// Get the a single joint info for a specific bodyIndex
//
@@ -765,13 +751,7 @@ pybullet_getJointPositions(PyObject* self, PyObject* args)
static PyObject*
pybullet_getJointInfo(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
PyObject *pyListJointInfo;
PyObject *pyListJointInfo;
struct b3JointInfo info;
@@ -781,6 +761,14 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
int size= PySequence_Size(args);
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (size==2) // get body index and joint index
{
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex))
@@ -808,7 +796,7 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
// info.m_jointDamping,
// info.m_jointFriction);
PyTuple_SetItem(pyListJointInfo, 0,
PyInt_FromLong(info.m_jointIndex));
PyInt_FromLong(info.m_jointIndex));
PyTuple_SetItem(pyListJointInfo, 1,
PyString_FromString(info.m_jointName));
PyTuple_SetItem(pyListJointInfo, 2,
@@ -848,14 +836,7 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
static PyObject*
pybullet_getJointState(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
PyObject *pyListJointForceTorque;
PyObject *pyListJointForceTorque;
PyObject *pyListJointState;
PyObject *item;
@@ -871,6 +852,15 @@ pybullet_getJointState(PyObject* self, PyObject* args)
int size= PySequence_Size(args);
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (size==2) // get body index and joint index
{
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex))
@@ -1070,11 +1060,6 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
static PyMethodDef SpamMethods[] = {
{"loadURDF", pybullet_loadURDF, METH_VARARGS,
"Create a multibody by loading a URDF file."},
{"loadSDF", pybullet_loadSDF, METH_VARARGS,
"Load multibodies from an SDF file."},
{"connect", pybullet_connectPhysicsServer, METH_VARARGS,
"Connect to an existing physics server (using shared memory by default)."},
@@ -1091,34 +1076,44 @@ static PyMethodDef SpamMethods[] = {
{"setGravity", pybullet_setGravity, METH_VARARGS,
"Set the gravity acceleration (x,y,z)."},
{"initializeJointPositions", pybullet_initializeJointPositions, METH_VARARGS,
"Initialize the joint positions for all joints. This method skips any physics simulation and teleports all joints to the new positions."},
// CURRENTLY NOT SUPPORTED
// {"initializeJointPosition", pybullet_initializeJointPosition, METH_VARARGS,
// "Initialize the joint position for one joint. This method skips any physics simulation and teleports the joint to the new position."},
{"getJointInfo", pybullet_getJointInfo, METH_VARARGS,
"Get the joint metadata info for a joint on a body. This includes joint index, name, type, q-index and u-index."},
{"getJointState", pybullet_getJointState, METH_VARARGS,
"Get the joint metadata info for a joint on a body."},
{"setJointControl", pybullet_setJointControl, METH_VARARGS,
"Set the joint control mode and desired target values."},
{"loadURDF", pybullet_loadURDF, METH_VARARGS,
"Create a multibody by loading a URDF file."},
{"loadSDF", pybullet_loadSDF, METH_VARARGS,
"Load multibodies from an SDF file."},
{"renderImage", pybullet_renderImage, METH_VARARGS,
"Render an image (given the pixel resolution width & height and camera view & projection matrices), and return the 8-8-8bit RGB pixel data and floating point depth values"},
{"getBasePositionAndOrientation", pybullet_getBasePositionAndOrientation, METH_VARARGS,
"Get the world position and orientation of the base of the object. (x,y,z) position vector and (x,y,z,w) quaternion orientation."},
{"getJointPositions", pybullet_getJointPositions, METH_VARARGS,
"Get the all the joint positions for a given body index."},
// {"resetBasePositionAndOrientation", pybullet_getBasePositionAndOrientation, METH_VARARGS,
// "Reset the world position and orientation of the base of the object instantaneously, not through physics simulation. (x,y,z) position vector and (x,y,z,w) quaternion orientation."},
{"getNumJoints", pybullet_getNumJoints, METH_VARARGS,
"Get the number of joints for an object."},
{"getJointInfo", pybullet_getJointInfo, METH_VARARGS,
"Get the name and type info for a joint on a body."},
{"getJointState", pybullet_getJointState, METH_VARARGS,
"Get the state (position, velocity etc) for a joint on a body."},
{"resetJointState", pybullet_resetJointState, METH_VARARGS,
"Reset the state (position, velocity etc) for a joint on a body instantaneously, not through physics simulation."},
{"setJointMotorControl", pybullet_setJointMotorControl, METH_VARARGS,
"Set a single joint motor control mode and desired target value. There is no immediate state change, stepSimulation will process the motors."},
//saveSnapshot
//loadSnapshot
//collision info
//raycast info
//applyBaseForce
//applyLinkForce
{"renderImage", pybullet_renderImage, METH_VARARGS,
"Render an image (given the pixel resolution width & height and camera view & projection matrices), and return the 8-8-8bit RGB pixel data and floating point depth values"},
{NULL, NULL, 0, NULL} /* Sentinel */
};