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get the state of a specific joint given a body index

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This commit is contained in:
Jasmine Hsu
2016-06-14 14:35:45 -07:00
parent 55560e114e
commit d53d6366de
1 changed files with 58 additions and 1 deletions
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59
examples/pybullet/pybullet.c
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@@ -306,7 +306,6 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double
{
{
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
@@ -463,6 +462,64 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
return NULL;
}
PyObject *pyListJointInfo;
struct b3JointInfo info;
int bodyIndex = -1;
int jointIndex = -1;
int jointInfoSize = 8; //size of struct b3JointInfo
int size= PySequence_Size(args);
if (size==2) // get body index and joint index
{
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex))
{
// printf("body index = %d, joint index =%d\n", bodyIndex, jointIndex);
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
pyListJointInfo = PyTuple_New(jointInfoSize);
b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
// printf("Joint%d %s, type %d, at q-index %d and u-index %d\n",
// info.m_jointIndex,
// info.m_jointName,
// info.m_jointType,
// info.m_qIndex,
// info.m_uIndex);
// printf(" flags=%d jointDamping=%f jointFriction=%f\n",
// info.m_flags,
// info.m_jointDamping,
// info.m_jointFriction);
PyTuple_SetItem(pyListJointInfo, 0,
PyInt_FromLong(info.m_jointIndex));
PyTuple_SetItem(pyListJointInfo, 1,
PyString_FromString(info.m_jointName));
PyTuple_SetItem(pyListJointInfo, 2,
PyInt_FromLong(info.m_jointType));
PyTuple_SetItem(pyListJointInfo, 3,
PyInt_FromLong(info.m_qIndex));
PyTuple_SetItem(pyListJointInfo, 4,
PyInt_FromLong(info.m_uIndex));
PyTuple_SetItem(pyListJointInfo, 5,
PyInt_FromLong(info.m_flags));
PyTuple_SetItem(pyListJointInfo, 6,
PyFloat_FromDouble(info.m_jointDamping));
PyTuple_SetItem(pyListJointInfo, 7,
PyFloat_FromDouble(info.m_jointFriction));
return pyListJointInfo;
}
}
Py_INCREF(Py_None);
return Py_None;
}