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Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body.

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Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape.
Implement PyBullet.getCollisionShapeData
Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!)
Extend PyBullet.getJointInfo: add parentIndex
This commit is contained in:
Erwin Coumans
2018-01-03 19:17:28 -08:00
parent a1492f50fc
commit 79d78a325a
16 changed files with 858 additions and 45 deletions
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26
examples/SharedMemory/BodyJointInfoUtility.h
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@@ -67,6 +67,32 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
info.m_jointUpperLimit = mb->m_links[link].m_jointUpperLimit;
info.m_jointMaxForce = mb->m_links[link].m_jointMaxForce;
info.m_jointMaxVelocity = mb->m_links[link].m_jointMaxVelocity;
info.m_parentFrame[0] = mb->m_links[link].m_parentComToThisComOffset.m_floats[0];
info.m_parentFrame[1] = mb->m_links[link].m_parentComToThisComOffset.m_floats[1];
info.m_parentFrame[2] = mb->m_links[link].m_parentComToThisComOffset.m_floats[2];
info.m_parentFrame[3] = mb->m_links[link].m_zeroRotParentToThis.m_floats[0];
info.m_parentFrame[4] = mb->m_links[link].m_zeroRotParentToThis.m_floats[1];
info.m_parentFrame[5] = mb->m_links[link].m_zeroRotParentToThis.m_floats[2];
info.m_parentFrame[6] = mb->m_links[link].m_zeroRotParentToThis.m_floats[3];
info.m_jointAxis[0] = 0;
info.m_jointAxis[1] = 0;
info.m_jointAxis[2] = 0;
info.m_parentIndex = mb->m_links[link].m_parentIndex;
if (info.m_jointType == eRevoluteType)
{
info.m_jointAxis[0] = mb->m_links[link].m_jointAxisTop[0].m_floats[0];
info.m_jointAxis[1] = mb->m_links[link].m_jointAxisTop[0].m_floats[1];
info.m_jointAxis[2] = mb->m_links[link].m_jointAxisTop[0].m_floats[2];
}
if (info.m_jointType == ePrismaticType)
{
info.m_jointAxis[0] = mb->m_links[link].m_jointAxisBottom[0].m_floats[0];
info.m_jointAxis[1] = mb->m_links[link].m_jointAxisBottom[0].m_floats[1];
info.m_jointAxis[2] = mb->m_links[link].m_jointAxisBottom[0].m_floats[2];
}
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {