get the state of a specific joint given a body index

examples/pybullet/pybullet.c

@@ -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;
 }