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merge bullet master

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This commit is contained in:
Jasmine Hsu
2016-06-24 15:20:46 -07:00
parent d2a2797201 84f6d60ab3
commit aa91042ac8
13 changed files with 629 additions and 434 deletions
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329
examples/pybullet/pybullet.c
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@@ -3,12 +3,19 @@
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
#ifdef __APPLE__
#include <Python/Python.h>
#else
#include <Python.h>
#endif
#if PY_MAJOR_VERSION >= 3
#define PyInt_FromLong PyLong_FromLong
#define PyString_FromString PyBytes_FromString
#endif
enum eCONNECT_METHOD
{
eCONNECT_GUI=1,
@@ -133,6 +140,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
int bodyIndex = -1;
const char* urdfFileName="";
float startPosX =0;
float startPosY =0;
float startPosZ = 0;
@@ -218,7 +226,7 @@ pybullet_loadSDF(PyObject* self, PyObject* args)
PyObject* pylist=0;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command;
b3SharedMemoryCommandHandle commandHandle;
if (0==sm)
{
@@ -232,8 +240,8 @@ pybullet_loadSDF(PyObject* self, PyObject* args)
return NULL;
}
command = b3LoadSdfCommandInit(sm, sdfFileName);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
commandHandle = b3LoadSdfCommandInit(sm, sdfFileName);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_SDF_LOADING_COMPLETED)
{
@@ -278,12 +286,18 @@ 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
int size;
int bodyIndex, jointIndex, controlMode;
double targetValue=0;
double maxForce=100000;
double gains=0.1;
int valid = 0;
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
@@ -292,72 +306,98 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
size= PySequence_Size(args);
if (size==3)
if (size==4)
{
int bodyIndex, controlMode;
PyObject* targetValues;
if (PyArg_ParseTuple(args, "iiO", &bodyIndex, &controlMode, &targetValues))
if (!PyArg_ParseTuple(args, "iiid", &bodyIndex, &jointIndex, &controlMode, &targetValue))
{
PyObject* seq;
int numJoints, len;
seq = PySequence_Fast(targetValues, "expected a sequence");
len = PySequence_Size(targetValues);
numJoints = b3GetNumJoints(sm,bodyIndex);
b3SharedMemoryCommandHandle commandHandle;
int qIndex;
if (len!=numJoints)
{
PyErr_SetString(SpamError, "Number of control target values doesn't match the number of joints.");
Py_DECREF(seq);
return NULL;
}
if ((controlMode != CONTROL_MODE_VELOCITY) &&
(controlMode != CONTROL_MODE_TORQUE) &&
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD))
{
PyErr_SetString(SpamError, "Illegral control mode.");
Py_DECREF(seq);
return NULL;
}
commandHandle = b3JointControlCommandInit(sm, bodyIndex,controlMode);
for (qIndex=0;qIndex<numJoints;qIndex++)
{
float value = pybullet_internalGetFloatFromSequence(seq,qIndex);
switch (controlMode)
{
case CONTROL_MODE_VELOCITY:
{
b3JointControlSetDesiredVelocity(commandHandle, qIndex, value);
break;
}
PyErr_SetString(SpamError, "Error parsing arguments");
return NULL;
}
valid = 1;
}
if (size==5)
{
if (!PyArg_ParseTuple(args, "iiidd", &bodyIndex, &jointIndex, &controlMode, &targetValue, &maxForce))
{
PyErr_SetString(SpamError, "Error parsing arguments");
return NULL;
}
valid = 1;
}
if (size==6)
{
if (!PyArg_ParseTuple(args, "iiiddd", &bodyIndex, &jointIndex, &controlMode, &targetValue, &maxForce, &gains))
{
PyErr_SetString(SpamError, "Error parsing arguments");
return NULL;
}
valid = 1;
}
if (valid)
{
int numJoints;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
struct b3JointInfo info;
case CONTROL_MODE_TORQUE:
{
b3JointControlSetDesiredForceTorque(commandHandle, qIndex, value);
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
{
b3JointControlSetDesiredPosition( commandHandle, qIndex, value);
break;
}
default:
{
}
};
}
Py_DECREF(seq);
Py_INCREF(Py_None);
return Py_None;
numJoints = b3GetNumJoints(sm,bodyIndex);
if ((jointIndex >= numJoints) || (jointIndex < 0))
{
PyErr_SetString(SpamError, "Joint index out-of-range.");
return NULL;
}
if ((controlMode != CONTROL_MODE_VELOCITY) &&
(controlMode != CONTROL_MODE_TORQUE) &&
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD))
{
PyErr_SetString(SpamError, "Illegral control mode.");
return NULL;
}
commandHandle = b3JointControlCommandInit2(sm, bodyIndex,controlMode);
b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
switch (controlMode)
{
case CONTROL_MODE_VELOCITY:
{
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue);
double kd = gains;
b3JointControlSetKd(commandHandle,info.m_uIndex,kd);
b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
break;
}
case CONTROL_MODE_TORQUE:
{
b3JointControlSetDesiredForceTorque(commandHandle, info.m_uIndex, targetValue);
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
{
b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue);
double kp = gains;
b3JointControlSetKp(commandHandle,info.m_uIndex,kp);
b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
break;
}
default:
{
}
};
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
Py_INCREF(Py_None);
return Py_None;
}
PyErr_SetString(SpamError, "error in setJointControl.");
return NULL;
@@ -548,37 +588,53 @@ 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)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
// TODO(hellojas): initialize all joint positions given a pylist of values
//
//
/*
///b3CreatePoseCommandInit will initialize (teleport) the pose of a body/robot. You can individually set the base position,
///base orientation and joint angles. This will set all velocities of base and joints to zero.
///This is not a robot control command using actuators/joint motors, but manual repositioning the robot.
b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
*/
//
//
Py_INCREF(Py_None);
return Py_None;
size= PySequence_Size(args);
if (size==3)
{
int bodyIndex;
int jointIndex;
double targetValue;
if (PyArg_ParseTuple(args, "iid", &bodyIndex, &jointIndex, &targetValue))
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int numJoints;
numJoints = b3GetNumJoints(sm,bodyIndex);
if ((jointIndex >= numJoints) || (jointIndex < 0))
{
PyErr_SetString(SpamError, "Joint index out-of-range.");
return NULL;
}
commandHandle = b3CreatePoseCommandInit(sm, bodyIndex);
b3CreatePoseCommandSetJointPosition(sm, commandHandle, jointIndex, targetValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
Py_INCREF(Py_None);
return Py_None;
}
}
PyErr_SetString(SpamError, "error in resetJointState.");
return NULL;
}
// CURRENTLY NOT SUPPORTED
// Initalize a single joint position for a specific body index
//
@@ -622,7 +678,7 @@ 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;
@@ -710,7 +766,7 @@ pybullet_getJointPositions(PyObject* self, PyObject* args)
Py_INCREF(Py_None);
return Py_None;
}
#endif
// Get the a single joint info for a specific bodyIndex
//
@@ -729,13 +785,7 @@ pybullet_getJointPositions(PyObject* self, PyObject* args)
static PyObject*
pybullet_getJointInfo(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
PyObject *pyListJointInfo;
PyObject *pyListJointInfo;
struct b3JointInfo info;
@@ -745,6 +795,14 @@ 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))
@@ -771,9 +829,8 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
// info.m_flags,
// 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,
@@ -788,7 +845,6 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
PyFloat_FromDouble(info.m_jointDamping));
PyTuple_SetItem(pyListJointInfo, 7,
PyFloat_FromDouble(info.m_jointFriction));
return pyListJointInfo;
}
}
@@ -814,14 +870,7 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
static PyObject*
pybullet_getJointState(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
PyObject *pyListJointForceTorque;
PyObject *pyListJointForceTorque;
PyObject *pyListJointState;
PyObject *item;
@@ -837,6 +886,15 @@ 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))
@@ -1036,11 +1094,6 @@ 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)."},
@@ -1057,34 +1110,44 @@ static PyMethodDef SpamMethods[] = {
{"setGravity", pybullet_setGravity, METH_VARARGS,
"Set the gravity acceleration (x,y,z)."},
{"initializeJointPositions", pybullet_initializeJointPositions, METH_VARARGS,
"Initialize the joint positions for all joints. This method skips any physics simulation and teleports all joints to the new positions."},
// CURRENTLY NOT SUPPORTED
// {"initializeJointPosition", pybullet_initializeJointPosition, METH_VARARGS,
// "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."},
{"loadURDF", pybullet_loadURDF, METH_VARARGS,
"Create a multibody by loading a URDF file."},
{"loadSDF", pybullet_loadSDF, METH_VARARGS,
"Load multibodies from an SDF file."},
{"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,
"Get the all the joint positions for a given body index."},
// {"resetBasePositionAndOrientation", pybullet_getBasePositionAndOrientation, METH_VARARGS,
// "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 */
};