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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2017-09-27 15:20:11 -07:00
parent 113e103bc2 8e08a9ff16
commit 85be3b43dd
75 changed files with 6253 additions and 767 deletions
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457
examples/pybullet/pybullet.c
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@@ -445,10 +445,10 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
{
printf("Connection terminated, couldn't get body info\n");
b3DisconnectSharedMemory(sm);
sm = 0;
sm = 0;
sPhysicsClients1[freeIndex] = 0;
sPhysicsClientsGUI[freeIndex] = 0;
sNumPhysicsClients++;
sPhysicsClientsGUI[freeIndex] = 0;
sNumPhysicsClients++;
return PyInt_FromLong(-1);
}
}
@@ -2835,7 +2835,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
if (info.m_jointName)
{
PyTuple_SetItem(pyListJointInfo, 1,
PyString_FromString(info.m_jointName));
PyString_FromString(info.m_jointName));
} else
{
PyTuple_SetItem(pyListJointInfo, 1,
@@ -3126,13 +3126,14 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
int bodyUniqueId = -1;
int linkIndex = -1;
int computeLinkVelocity = 0;
int computeForwardKinematics = 0;
int i;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "computeLinkVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ii", kwlist, &bodyUniqueId, &linkIndex,&computeLinkVelocity, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "computeLinkVelocity", "computeForwardKinematics", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iii", kwlist, &bodyUniqueId, &linkIndex,&computeLinkVelocity,&computeForwardKinematics,&physicsClientId))
{
return NULL;
}
@@ -3168,6 +3169,11 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
b3RequestActualStateCommandComputeLinkVelocity(cmd_handle,computeLinkVelocity);
}
if (computeForwardKinematics)
{
b3RequestActualStateCommandComputeForwardKinematics(cmd_handle,computeForwardKinematics);
}
status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
@@ -3367,6 +3373,8 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
double textSize = 1.f;
double lifeTime = 0.f;
int physicsClientId = 0;
int debugItemUniqueId = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"text", "textPosition", "textColorRGB", "textSize", "lifeTime", "textOrientation", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL};
@@ -3419,15 +3427,16 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED)
{
int debugItemUniqueId = b3GetDebugItemUniqueId(statusHandle);
PyObject* item = PyInt_FromLong(debugItemUniqueId);
return item;
debugItemUniqueId = b3GetDebugItemUniqueId(statusHandle);
}
PyErr_SetString(SpamError, "Error in addUserDebugText.");
return NULL;
{
PyObject* item = PyInt_FromLong(debugItemUniqueId);
return item;
}
}
static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObject* keywds)
@@ -3449,6 +3458,7 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
double lineWidth = 1.f;
double lifeTime = 0.f;
int physicsClientId = 0;
int debugItemUniqueId = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"lineFromXYZ", "lineToXYZ", "lineColorRGB", "lineWidth", "lifeTime", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL};
@@ -3492,13 +3502,12 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED)
{
int debugItemUniqueId = b3GetDebugItemUniqueId(statusHandle);
PyObject* item = PyInt_FromLong(debugItemUniqueId);
return item;
debugItemUniqueId = b3GetDebugItemUniqueId(statusHandle);
}
{
PyObject* item = PyInt_FromLong(debugItemUniqueId);
return item;
}
PyErr_SetString(SpamError, "Error in addUserDebugLine.");
return NULL;
}
static PyObject* pybullet_removeUserDebugItem(PyObject* self, PyObject* args, PyObject* keywds)
@@ -4754,21 +4763,21 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject*
static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPointPtr)
{
/*
0 int m_contactFlags;
1 int m_bodyUniqueIdA;
2 int m_bodyUniqueIdB;
3 int m_linkIndexA;
4 int m_linkIndexB;
5 double m_positionOnAInWS[3];//contact point location on object A,
in world space coordinates
6 double m_positionOnBInWS[3];//contact point location on object
A, in world space coordinates
7 double m_contactNormalOnBInWS[3];//the separating contact
normal, pointing from object B towards object A
8 double m_contactDistance;//negative number is penetration, positive
is distance.
9 double m_normalForce;
*/
0 int m_contactFlags;
1 int m_bodyUniqueIdA;
2 int m_bodyUniqueIdB;
3 int m_linkIndexA;
4 int m_linkIndexB;
5 double m_positionOnAInWS[3];//contact point location on object A,
in world space coordinates
6 double m_positionOnBInWS[3];//contact point location on object
A, in world space coordinates
7 double m_contactNormalOnBInWS[3];//the separating contact
normal, pointing from object B towards object A
8 double m_contactDistance;//negative number is penetration, positive
is distance.
9 double m_normalForce;
*/
int i;
@@ -4965,7 +4974,7 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject* keywds)
{
static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "gearAuxLink", "physicsClientId", NULL};
static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "gearAuxLink", "relativePositionTarget", "erp", "physicsClientId", NULL};
int userConstraintUniqueId = -1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
@@ -4979,7 +4988,9 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
double jointChildFrameOrn[4];
double maxForce = -1;
double gearRatio = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddii", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &gearAuxLink, &physicsClientId))
double relativePositionTarget=1e32;
double erp=-1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddiddi", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &gearAuxLink, &relativePositionTarget, &erp, &physicsClientId))
{
return NULL;
}
@@ -5001,6 +5012,16 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
{
b3InitChangeUserConstraintSetFrameInB(commandHandle, jointChildFrameOrn);
}
if (relativePositionTarget<1e10)
{
b3InitChangeUserConstraintSetRelativePositionTarget(commandHandle, relativePositionTarget);
}
if (erp>=0)
{
b3InitChangeUserConstraintSetERP(commandHandle, erp);
}
if (maxForce >= 0)
{
b3InitChangeUserConstraintSetMaxForce(commandHandle, maxForce);
@@ -5559,9 +5580,9 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
{
int bodyUniqueIdA = -1;
int bodyUniqueIdB = -1;
int linkIndexA = -2;
int linkIndexB = -2;
int linkIndexA = -2;
int linkIndexB = -2;
b3SharedMemoryCommandHandle commandHandle;
struct b3ContactInformation contactPointData;
b3SharedMemoryStatusHandle statusHandle;
@@ -5583,24 +5604,24 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
}
commandHandle = b3InitRequestContactPointInformation(sm);
if (bodyUniqueIdA>=0)
{
b3SetContactFilterBodyA(commandHandle, bodyUniqueIdA);
}
if (bodyUniqueIdB>=0)
{
b3SetContactFilterBodyB(commandHandle, bodyUniqueIdB);
}
if (bodyUniqueIdA>=0)
{
b3SetContactFilterBodyA(commandHandle, bodyUniqueIdA);
}
if (bodyUniqueIdB>=0)
{
b3SetContactFilterBodyB(commandHandle, bodyUniqueIdB);
}
if (linkIndexA>=-1)
{
b3SetContactFilterLinkA( commandHandle, linkIndexA);
}
if (linkIndexB >=-1)
{
b3SetContactFilterLinkB( commandHandle, linkIndexB);
}
if (linkIndexA>=-1)
{
b3SetContactFilterLinkA( commandHandle, linkIndexA);
}
if (linkIndexB >=-1)
{
b3SetContactFilterLinkB( commandHandle, linkIndexB);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
@@ -6574,7 +6595,7 @@ static PyObject* pybullet_invertTransform(PyObject* self,
PyErr_SetString(SpamError, "Invalid input: expected position [x,y,z] and orientation [x,y,z,w].");
return NULL;
}
/// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo
/// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc
@@ -6653,6 +6674,131 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self,
return Py_None;
}
static PyObject* pybullet_loadPlugin(PyObject* self,
PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
char* pluginPath = 0;
b3SharedMemoryCommandHandle command = 0;
b3SharedMemoryStatusHandle statusHandle = 0;
int statusType = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "pluginPath", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &pluginPath, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
command = b3CreateCustomCommand(sm);
b3CustomCommandLoadPlugin(command, pluginPath);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusPluginUniqueId(statusHandle);
return PyInt_FromLong(statusType);
}
static PyObject* pybullet_unloadPlugin(PyObject* self,
PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int pluginUniqueId = -1;
b3SharedMemoryCommandHandle command = 0;
b3SharedMemoryStatusHandle statusHandle = 0;
int statusType = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "pluginUniqueId", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &pluginUniqueId,&physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
command = b3CreateCustomCommand(sm);
b3CustomCommandUnloadPlugin(command, pluginUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
Py_INCREF(Py_None);
return Py_None;;
}
//createCustomCommand for executing commands implemented in a plugin system
static PyObject* pybullet_executePluginCommand(PyObject* self,
PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int pluginUniqueId = -1;
char* textArgument = 0;
b3SharedMemoryCommandHandle command=0;
b3SharedMemoryStatusHandle statusHandle=0;
int statusType = -1;
PyObject* intArgs=0;
PyObject* floatArgs=0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "pluginUniqueId", "textArgument", "intArgs", "floatArgs", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|sOOi", kwlist, &pluginUniqueId, &textArgument, &intArgs, &floatArgs, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
command = b3CreateCustomCommand(sm);
b3CustomCommandExecutePluginCommand(command, pluginUniqueId, textArgument);
{
PyObject* seqIntArgs = intArgs?PySequence_Fast(intArgs, "expected a sequence"):0;
PyObject* seqFloatArgs = floatArgs?PySequence_Fast(floatArgs, "expected a sequence"):0;
int numIntArgs = seqIntArgs?PySequence_Size(intArgs):0;
int numFloatArgs = seqIntArgs?PySequence_Size(floatArgs):0;
int i;
for (i=0;i<numIntArgs;i++)
{
int val = pybullet_internalGetIntFromSequence(seqIntArgs,i);
b3CustomCommandExecuteAddIntArgument(command, val);
}
for (i=0;i<numFloatArgs;i++)
{
float val = pybullet_internalGetFloatFromSequence(seqFloatArgs,i);
b3CustomCommandExecuteAddFloatArgument(command, val);
}
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusPluginCommandResult(statusHandle);
return PyInt_FromLong(statusType);
}
///Inverse Kinematics binding
static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
PyObject* args, PyObject* keywds)
@@ -6847,8 +6993,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
/// Given an object id, joint positions, joint velocities and joint
/// accelerations,
/// compute the joint forces using Inverse Dynamics
static PyObject* pybullet_calculateInverseDynamics(PyObject* self,
PyObject* args, PyObject* keywds)
static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int bodyUniqueId;
@@ -6857,14 +7002,21 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self,
PyObject* objAccelerations;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"bodyUniqueId", "objPositions", "objVelocities", "objAccelerations", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOOO|i", kwlist, &bodyUniqueId, &objPositionsQ,
&objVelocitiesQdot, &objAccelerations, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "objPositions",
"objVelocities", "objAccelerations",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOOO|i", kwlist,
&bodyUniqueId, &objPositionsQ,
&objVelocitiesQdot, &objAccelerations,
&physicsClientId))
{
static char* kwlist2[] = {"bodyIndex", "objPositions", "objVelocities", "objAccelerations", "physicsClientId", NULL};
static char* kwlist2[] = {"bodyIndex", "objPositions",
"objVelocities", "objAccelerations",
"physicsClientId", NULL};
PyErr_Clear();
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOOO|i", kwlist2, &bodyUniqueId, &objPositionsQ,
&objVelocitiesQdot, &objAccelerations, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOOO|i", kwlist2,
&bodyUniqueId, &objPositionsQ, &objVelocitiesQdot,
&objAccelerations, &physicsClientId))
{
return NULL;
}
@@ -6963,34 +7115,188 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self,
return Py_None;
}
/// Given an object id, joint positions, joint velocities and joint
/// accelerations, compute the Jacobian
static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int bodyUniqueId;
int linkIndex;
PyObject* localPosition;
PyObject* objPositions;
PyObject* objVelocities;
PyObject* objAccelerations;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "localPosition",
"objPositions", "objVelocities",
"objAccelerations", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiOOOO|i", kwlist,
&bodyUniqueId, &linkIndex, &localPosition, &objPositions,
&objVelocities, &objAccelerations, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
int szLoPos = PySequence_Size(localPosition);
int szObPos = PySequence_Size(objPositions);
int szObVel = PySequence_Size(objVelocities);
int szObAcc = PySequence_Size(objAccelerations);
int numJoints = b3GetNumJoints(sm, bodyUniqueId);
if (numJoints && (szLoPos == 3) && (szObPos == numJoints) &&
(szObVel == numJoints) && (szObAcc == numJoints))
{
int byteSizeJoints = sizeof(double) * numJoints;
int byteSizeVec3 = sizeof(double) * 3;
int i;
PyObject* pyResultList = PyTuple_New(2);
double* localPoint = (double*)malloc(byteSizeVec3);
double* jointPositions = (double*)malloc(byteSizeJoints);
double* jointVelocities = (double*)malloc(byteSizeJoints);
double* jointAccelerations = (double*)malloc(byteSizeJoints);
double* linearJacobian = (double*)malloc(3 * byteSizeJoints);
double* angularJacobian = (double*)malloc(3 * byteSizeJoints);
pybullet_internalSetVectord(localPosition, localPoint);
for (i = 0; i < numJoints; i++)
{
jointPositions[i] =
pybullet_internalGetFloatFromSequence(objPositions, i);
jointVelocities[i] =
pybullet_internalGetFloatFromSequence(objVelocities, i);
jointAccelerations[i] =
pybullet_internalGetFloatFromSequence(objAccelerations, i);
}
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle commandHandle =
b3CalculateJacobianCommandInit(sm, bodyUniqueId,
linkIndex, localPoint, jointPositions,
jointVelocities, jointAccelerations);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CALCULATED_JACOBIAN_COMPLETED)
{
int dofCount;
b3GetStatusJacobian(statusHandle, &dofCount, NULL, NULL);
if (dofCount)
{
int byteSizeDofCount = sizeof(double) * dofCount;
double* linearJacobian = (double*)malloc(3 * byteSizeDofCount);
double* angularJacobian = (double*)malloc(3 * byteSizeDofCount);
b3GetStatusJacobian(statusHandle,
NULL,
linearJacobian,
angularJacobian);
if (linearJacobian)
{
int r;
PyObject* pymat = PyTuple_New(3);
for (r = 0; r < 3; ++r) {
int c;
PyObject* pyrow = PyTuple_New(dofCount);
for (c = 0; c < dofCount; ++c) {
int element = r * dofCount + c;
PyTuple_SetItem(pyrow, c,
PyFloat_FromDouble(linearJacobian[element]));
}
PyTuple_SetItem(pymat, r, pyrow);
}
PyTuple_SetItem(pyResultList, 0, pymat);
}
if (angularJacobian)
{
int r;
PyObject* pymat = PyTuple_New(3);
for (r = 0; r < 3; ++r) {
int c;
PyObject* pyrow = PyTuple_New(dofCount);
for (c = 0; c < dofCount; ++c) {
int element = r * dofCount + c;
PyTuple_SetItem(pyrow, c,
PyFloat_FromDouble(angularJacobian[element]));
}
PyTuple_SetItem(pymat, r, pyrow);
}
PyTuple_SetItem(pyResultList, 1, pymat);
}
}
}
else
{
PyErr_SetString(SpamError,
"Internal error in calculateJacobian");
}
}
free(localPoint);
free(jointPositions);
free(jointVelocities);
free(jointAccelerations);
free(linearJacobian);
free(angularJacobian);
if (pyResultList) return pyResultList;
}
else
{
PyErr_SetString(SpamError,
"calculateJacobian [numJoints] needs to be "
"positive, [local position] needs to be of "
"size 3 and [joint positions], "
"[joint velocities], [joint accelerations] "
"need to match the number of joints.");
return NULL;
}
}
}
Py_INCREF(Py_None);
return Py_None;
}
static PyMethodDef SpamMethods[] = {
{"connect", (PyCFunction)pybullet_connectPhysicsServer, METH_VARARGS | METH_KEYWORDS,
"connect(method, key=SHARED_MEMORY_KEY, options='')\n"
"connect(method, hostname='localhost', port=1234, options='')\n"
"Connect to an existing physics server (using shared memory by default)."},
{"disconnect", (PyCFunction)pybullet_disconnectPhysicsServer, METH_VARARGS | METH_KEYWORDS,
"disconnect(physicsClientId=0)\n"
"Disconnect from the physics server."},
{"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS,
"resetSimulation(physicsClientId=0)\n"
"Reset the simulation: remove all objects and start from an empty world."},
{"stepSimulation", (PyCFunction)pybullet_stepSimulation, METH_VARARGS | METH_KEYWORDS,
"stepSimulation(physicsClientId=0)\n"
"Step the simulation using forward dynamics."},
{"setGravity", (PyCFunction)pybullet_setGravity, METH_VARARGS | METH_KEYWORDS,
"setGravity(gravX, gravY, gravZ, physicsClientId=0)\n"
"Set the gravity acceleration (x,y,z)."},
{"setTimeStep", (PyCFunction)pybullet_setTimeStep, METH_VARARGS | METH_KEYWORDS,
"setTimeStep(timestep, physicsClientId=0)\n"
"Set the amount of time to proceed at each call to stepSimulation. (unit "
"is seconds, typically range is 0.01 or 0.001)"},
{"setDefaultContactERP", (PyCFunction)pybullet_setDefaultContactERP, METH_VARARGS | METH_KEYWORDS,
"setDefaultContactERP(defaultContactERP, physicsClientId=0)\n"
"Set the amount of contact penetration Error Recovery Paramater "
"(ERP) in each time step. \
This is an tuning parameter to control resting contact stability. "
"This value depends on the time step."},
{"setRealTimeSimulation", (PyCFunction)pybullet_setRealTimeSimulation, METH_VARARGS | METH_KEYWORDS,
"setRealTimeSimulation(enableRealTimeSimulation, physicsClientId=0)\n"
"Enable or disable real time simulation (using the real time clock,"
" RTC) in the physics server. Expects one integer argument, 0 or 1"},
@@ -7001,6 +7307,8 @@ static PyMethodDef SpamMethods[] = {
"This is for experimental purposes, use at own risk, magic may or not happen"},
{"loadURDF", (PyCFunction)pybullet_loadURDF, METH_VARARGS | METH_KEYWORDS,
"bodyUniqueId = loadURDF(fileName, basePosition=[0.,0.,0.], baseOrientation=[0.,0.,0.,1.], "
"useMaximalCoordinates=0, useFixedBase=0, flags=0, globalScaling=1.0, physicsClientId=0)\n"
"Create a multibody by loading a URDF file."},
{"loadSDF", (PyCFunction)pybullet_loadSDF, METH_VARARGS | METH_KEYWORDS,
@@ -7249,6 +7557,19 @@ static PyMethodDef SpamMethods[] = {
"Given an object id, joint positions, joint velocities and joint "
"accelerations, compute the joint forces using Inverse Dynamics"},
{"calculateJacobian", (PyCFunction)pybullet_calculateJacobian, METH_VARARGS | METH_KEYWORDS,
"Compute the jacobian for a specified local position on a body and its kinematics.\n"
"Args:\n"
" bodyIndex - a scalar defining the unique object id.\n"
" linkIndex - a scalar identifying the link containing the local point.\n"
" localPosition - a list of [x, y, z] of the coordinates of the local point.\n"
" objPositions - a list of the joint positions.\n"
" objVelocities - a list of the joint velocities.\n"
" objAccelerations - a list of the joint accelerations.\n"
"Returns:\n"
" linearJacobian - a list of the partial linear velocities of the jacobian.\n"
" angularJacobian - a list of the partial angular velocities of the jacobian.\n"},
{"calculateInverseKinematics", (PyCFunction)pybullet_calculateInverseKinematics,
METH_VARARGS | METH_KEYWORDS,
"Inverse Kinematics bindings: Given an object id, "
@@ -7281,6 +7602,16 @@ static PyMethodDef SpamMethods[] = {
"Cast a batch of rays and return the result for each of the rays (first object hit, if any. or -1) "
"Takes two arguments (list of from_positions [x,y,z] and a list of to_positions [x,y,z] in Cartesian world coordinates"},
{ "loadPlugin", (PyCFunction)pybullet_loadPlugin, METH_VARARGS | METH_KEYWORDS,
"Load a plugin, could implement custom commands etc." },
{ "unloadPlugin", (PyCFunction)pybullet_unloadPlugin, METH_VARARGS | METH_KEYWORDS,
"Unload a plugin, given the pluginUniqueId." },
{ "executePluginCommand", (PyCFunction)pybullet_executePluginCommand, METH_VARARGS | METH_KEYWORDS,
"Execute a command, implemented in a plugin." },
{"submitProfileTiming", (PyCFunction)pybullet_submitProfileTiming, METH_VARARGS | METH_KEYWORDS,
"Add a custom profile timing that will be visible in performance profile recordings on the physics server."
"On the physics server (in GUI and VR mode) you can press 'p' to start and/or stop profile recordings" },