Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix loading urdf at default position (0,0,0) and adding b3 cmd to change orientation if args provided

Browse Source
This commit is contained in:
Jasmine Hsu
2016-06-23 14:00:44 -07:00
parent 0b249361c2
commit e0448c7613
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/pybullet/pybullet.c
View File

@@ -135,7 +135,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
const char* urdfFileName=""; const char* urdfFileName="";
float startPosX =0; float startPosX =0;
float startPosY =0; float startPosY =0;
float startPosZ = 1; float startPosZ = 0;
float startOrnX = 0; float startOrnX = 0;
float startOrnY = 0; float startOrnY = 0;
float startOrnZ = 0; float startOrnZ = 0;
@@ -165,6 +165,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
return NULL; return NULL;
} }
{ {
printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW);
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
int statusType; int statusType;
@@ -172,6 +173,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
//setting the initial position, orientation and other arguments are optional //setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ); b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
b3LoadUrdfCommandSetStartOrientation(command, startOrnX, startOrnY,startOrnZ, startOrnW );
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle); statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_URDF_LOADING_COMPLETED) if (statusType!=CMD_URDF_LOADING_COMPLETED)