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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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34
examples/pybullet/pybullet.c
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@@ -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);