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allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE

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fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
This commit is contained in:
Erwin Coumans
2018-01-11 21:04:08 -08:00
parent 22b4809891
commit 79051b7611
13 changed files with 986 additions and 55 deletions
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13
examples/pybullet/examples/quadruped.py
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@@ -4,7 +4,10 @@ import math
def drawInertiaBox(parentUid, parentLinkIndex, color):
mass,frictionCoeff, inertia =p.getDynamicsInfo(bodyUniqueId=parentUid,linkIndex=parentLinkIndex, flags = p.DYNAMICS_INFO_REPORT_INERTIA)
dyn = p.getDynamicsInfo(parentUid, parentLinkIndex)
mass=dyn[0]
frictionCoeff=dyn[1]
inertia = dyn[2]
if (mass>0):
Ixx = inertia[0]
Iyy = inertia[1]
@@ -79,7 +82,7 @@ p.setTimeStep(fixedTimeStep)
orn = p.getQuaternionFromEuler([0,0,0.4])
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates)
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates, flags=p.URDF_USE_IMPLICIT_CYLINDER)
nJoints = p.getNumJoints(quadruped)
jointNameToId = {}
@@ -123,7 +126,11 @@ halfpi = 1.57079632679
twopi = 4*halfpi
kneeangle = -2.1834
mass, friction, localInertiaDiagonal = p.getDynamicsInfo(quadruped,-1, flags=p.DYNAMICS_INFO_REPORT_INERTIA )
dyn = p.getDynamicsInfo(quadruped,-1)
mass=dyn[0]
friction=dyn[1]
localInertiaDiagonal = dyn[2]
print("localInertiaDiagonal",localInertiaDiagonal)
#this is a no-op, just to show the API

34
examples/pybullet/pybullet.c
View File

@@ -526,6 +526,33 @@ void b3pybulletExitFunc(void)
}
}
static PyObject* pybullet_isConnected(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int isConnected = 0;
int method = 0;
PyObject* pylist = 0;
PyObject* val = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm != 0)
{
if (b3CanSubmitCommand(sm))
{
isConnected = 1;
method = sPhysicsClientsGUI[physicsClientId];
}
}
return PyLong_FromLong(isConnected);
}
static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyObject* keywds)
{
@@ -8249,6 +8276,10 @@ static PyMethodDef SpamMethods[] = {
"getConnectionInfo(physicsClientId=0)\n"
"Return if a given client id is connected, and using what method."},
{ "isConnected", (PyCFunction)pybullet_isConnected, METH_VARARGS | METH_KEYWORDS,
"isConnected(physicsClientId=0)\n"
"Return if a given client id is connected." },
{"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS,
"resetSimulation(physicsClientId=0)\n"
"Reset the simulation: remove all objects and start from an empty world."},
@@ -8818,7 +8849,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_USE_IMPLICIT_CYLINDER", URDF_USE_IMPLICIT_CYLINDER);
PyModule_AddIntConstant(m, "URDF_GLOBAL_VELOCITIES_MB", URDF_GLOBAL_VELOCITIES_MB);
PyModule_AddIntConstant(m, "MJCF_COLORS_FROM_FILE", MJCF_COLORS_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);