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update pybullet quickstart quide PDF

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hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
This commit is contained in:
Erwin Coumans
2016-12-31 14:43:15 -08:00
parent 63d3374c00
commit c940f0ec47
18 changed files with 288 additions and 138 deletions
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23
examples/pybullet/pybullet.c
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@@ -495,7 +495,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
int statusType;
b3SharedMemoryCommandHandle command;
b3PhysicsClientHandle sm = 0;
int numBodies = 0;
int i;
int bodyIndicesOut[MAX_SDF_BODIES];
PyObject* pylist = 0;
int physicsClientId = 0;
static char *kwlist[] = { "mjcfFileName","physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &mjcfFileName,&physicsClientId))
@@ -518,8 +521,22 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
PyErr_SetString(SpamError, "Couldn't load .mjcf file.");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
numBodies =
b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES);
if (numBodies > MAX_SDF_BODIES) {
PyErr_SetString(SpamError, "SDF exceeds body capacity");
return NULL;
}
pylist = PyTuple_New(numBodies);
if (numBodies > 0 && numBodies <= MAX_SDF_BODIES) {
for (i = 0; i < numBodies; i++) {
PyTuple_SetItem(pylist, i, PyInt_FromLong(bodyIndicesOut[i]));
}
}
return pylist;
}
static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject *keywds)