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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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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];