tweaks in pybullet and shared memory C-API:

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

examples/BasicDemo/BasicExample.cpp

@@ -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]);
 	}
 };

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -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;
 }

examples/SharedMemory/PhysicsClientC_API.h

@@ -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,

examples/SharedMemory/SharedMemoryCommands.h

@@ -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];

examples/pybullet/pybullet.c

@@ -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 startPosY =0;
-  float startPosZ = 1;
+    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;
+        int bodyIndex, jointIndex, controlMode;
-        PyObject* targetValues;
+        double targetValue;
-        if (PyArg_ParseTuple(args, "iiO", &bodyIndex, &controlMode, &targetValues))
+        
+        if (PyArg_ParseTuple(args, "iiid", &bodyIndex, &jointIndex, &controlMode, &targetValue))
         {
-            PyObject* seq;
+            int numJoints;
-            int numJoints, len;
-            seq = PySequence_Fast(targetValues, "expected a sequence");
-            len = PySequence_Size(targetValues);
-            numJoints = b3GetNumJoints(sm,bodyIndex);
             b3SharedMemoryCommandHandle commandHandle;
             b3SharedMemoryStatusHandle statusHandle;
-		int qIndex;
+            struct b3JointInfo info;
-            
+
-            if (len!=numJoints)
+			numJoints = b3GetNumJoints(sm,bodyIndex);
-           { 
+            if ((jointIndex >= numJoints) || (jointIndex < 0))
-                PyErr_SetString(SpamError, "Number of control target values doesn't match the number of joints.");
+            {
-                Py_DECREF(seq);
+                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;
+        int jointIndex;
-        if (PyArg_ParseTuple(args, "iO", &bodyIndex,  &targetValues))
+        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;
+            int numJoints;
-
+            
-            if (len!=numJoints)
+            numJoints = b3GetNumJoints(sm,bodyIndex);
-           {
+            if ((jointIndex >= numJoints) || (jointIndex < 0))
-                PyErr_SetString(SpamError, "Number of joint position values doesn't match the number of joints.");
+            {
-                Py_DECREF(seq);
+                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++)
+            statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
-            {
-                float value = pybullet_internalGetFloatFromSequence(seq,qIndex);
-		b3CreatePoseCommandSetJointPosition(sm, commandHandle, qIndex, value);
-	}
-          statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
-
-            Py_DECREF(seq);
             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)
+	  PyObject *pyListJointInfo; 
-	{
-		PyErr_SetString(SpamError, "Not connected to physics server.");
-		return NULL;
-	}
-
-  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)
+	  PyObject *pyListJointForceTorque; 
-	{
-		PyErr_SetString(SpamError, "Not connected to physics server.");
-		return NULL;
-	}
-  
-    
-  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,
+    {"loadURDF",  pybullet_loadURDF, METH_VARARGS,
-	"Initialize the joint positions for all joints. This method skips any physics simulation and teleports all joints to the new positions."},
+      "Create a multibody by loading a URDF file."},
-	
+      
-  // CURRENTLY NOT SUPPORTED
+	{"loadSDF", pybullet_loadSDF, METH_VARARGS,
-  // {"initializeJointPosition", pybullet_initializeJointPosition, METH_VARARGS,
+		"Load multibodies from an SDF file."},
-  // "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."},
-
     
-	{"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,
+//    {"resetBasePositionAndOrientation",  pybullet_getBasePositionAndOrientation, METH_VARARGS,
-  "Get the all the joint positions for a given body index."},
+//        "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 */
 };

test/SharedMemory/test.c

@@ -85,9 +85,9 @@ void testSharedMemory(b3PhysicsClientHandle sm)
                 b3SharedMemoryStatusHandle statusHandle;
                 b3SharedMemoryCommandHandle commandHandle;
                 double jointAngle = 0.f;
-                
+               	int jointIndex; 
                 commandHandle = b3CreatePoseCommandInit(sm, bodyUniqueId);
-                for (int jointIndex=0;jointIndex<numJoints;jointIndex++)
+                for (jointIndex=0;jointIndex<numJoints;jointIndex++)
                 {
                     b3CreatePoseCommandSetJointPosition(sm, commandHandle, jointIndex, jointAngle);
                 }