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return joint state given a joint index and body index

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This commit is contained in:
Jasmine Hsu
2016-06-14 14:08:24 -07:00
parent 9c5a7925f0
commit eeaff0747b
1 changed files with 179 additions and 3 deletions
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180
examples/pybullet/pybullet.c
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@@ -235,6 +235,7 @@ pybullet_setGravity(PyObject* self, PyObject* args)
}
// Internal function used to get the base position and orientation
// Orientation is returned in quaternions
static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double basePosition[3],double baseOrientation[3])
@@ -260,12 +261,18 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double
const int status_type = b3GetStatusType(status_handle);
const double* actualStateQ;
// const double* jointReactionForces[];
int i;
b3GetStatusActualState(status_handle, 0/* body_unique_id */,
0/* num_degree_of_freedom_q */,
0/* num_degree_of_freedom_u */, 0 /*root_local_inertial_frame*/,
&actualStateQ , 0 /* actual_state_q_dot */,
0 /* joint_reaction_forces */);
// printf("joint reaction forces=");
// for (i=0; i < (sizeof(jointReactionForces)/sizeof(double)); i++) {
// printf("%f ", jointReactionForces[i]);
// }
//now, position x,y,z = actualStateQ[0],actualStateQ[1],actualStateQ[2]
//and orientation x,y,z,w = actualStateQ[3],actualStateQ[4],actualStateQ[5],actualStateQ[6]
basePosition[0] = actualStateQ[0];
@@ -300,6 +307,7 @@ pybullet_getBasePositionAndOrientation(PyObject* self, PyObject* args)
return NULL;
}
double basePosition[3];
double baseOrientation[4];
@@ -375,7 +383,7 @@ pybullet_getNumJoints(PyObject* self, PyObject* args)
// TODO(hellojas): set joint positions for a body
static PyObject*
pybullet_setJointPositions(PyObject* self, PyObject* args)
pybullet_initializeJointPositions(PyObject* self, PyObject* args)
{
if (0==sm)
{
@@ -383,6 +391,165 @@ pybullet_setJointPositions(PyObject* self, PyObject* args)
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
// TODO(hellojas): get joint positions for a body
static PyObject*
pybullet_getJointInfo(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
// Returns the state of a specific joint in a given bodyIndex
// The state of a joint includes the following:
// position, velocity, force torque (6 values), and motor torque
// The returned pylist is an array of [float, float, float[6], float]
// TODO(hellojas): check accuracy of position and velocity
// TODO(hellojas): check force torque values
static PyObject*
pybullet_getJointState(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
PyObject *pyListJointForceTorque;
PyObject *pyListJointState;
PyObject *item;
struct b3JointInfo info;
struct b3JointSensorState sensorState;
int bodyIndex = -1;
int jointIndex = -1;
int sensorStateSize = 4; // size of struct b3JointSensorState
int forceTorqueSize = 6; // size of force torque list from b3JointSensorState
int i, j;
int size= PySequence_Size(args);
if (size==2) // get body index and joint index
{
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex))
{
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
pyListJointState = PyTuple_New(sensorStateSize);
pyListJointForceTorque = PyTuple_New(forceTorqueSize);
// double m_jointPosition;
// double m_jointVelocity;
// double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
// double m_jointMotorTorque;
b3GetJointState(sm, status_handle, jointIndex, &sensorState);
// printf("Joint%d: position=%f velocity=%f motortorque=%f\n",
// jointIndex,
// sensorState.m_jointPosition,
// sensorState.m_jointVelocity,
// sensorState.m_jointMotorTorque);
PyTuple_SetItem(pyListJointState, 0,
PyFloat_FromDouble(sensorState.m_jointPosition));
PyTuple_SetItem(pyListJointState, 1,
PyFloat_FromDouble(sensorState.m_jointVelocity));
// joint force torque is list of 6
/* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
// printf(" jointForceTorque = ");
for (j = 0; j < forceTorqueSize; j++) {
// printf("%f ", sensorState.m_jointForceTorque[j]);
PyTuple_SetItem(pyListJointForceTorque, j,
PyFloat_FromDouble(sensorState.m_jointForceTorque[j]));
}
PyTuple_SetItem(pyListJointState, 2,
pyListJointForceTorque);
PyTuple_SetItem(pyListJointState, 3,
PyFloat_FromDouble(sensorState.m_jointMotorTorque));
return pyListJointState;
}
}
Py_INCREF(Py_None);
return Py_None;
}
// TODO(hellojas): get joint positions for a body
static PyObject*
pybullet_getJointPositionAndVelocity(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
struct b3JointInfo info;
int bodyIndex = 0;
int forceTorqueSize = 6;
PyObject *pylistJointPos;
PyObject *item;
int i, j, numJoints;
struct b3JointSensorState sensorState;
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
numJoints = b3GetNumJoints(sm,bodyIndex);
const char *pyListJointNames[numJoints];
pylistJointPos = PyTuple_New(numJoints);
// double m_jointPosition;
// double m_jointVelocity;
// double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
// double m_jointMotorTorque;
for (i = 0; i < numJoints; ++i) {
b3GetJointState(sm, status_handle, i, &sensorState);
printf("Joint%d: position=%f velocity=%f motortorque=%f\n",
i,
sensorState.m_jointPosition,
sensorState.m_jointVelocity,
sensorState.m_jointMotorTorque);
// item = PyFloat_FromDouble(basePosition[i]);
printf(" jointForceTorque = ");
for (j = 0; j < forceTorqueSize; j++) {
printf("%f ", sensorState.m_jointPosition);
}
printf("\n");
}
Py_INCREF(Py_None);
return Py_None;
}
@@ -565,9 +732,18 @@ static PyMethodDef SpamMethods[] = {
{"setGravity", pybullet_setGravity, METH_VARARGS,
"Set the gravity acceleration (x,y,z)."},
{"initializeJointPositions", pybullet_setJointPositions, METH_VARARGS,
{"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."},
// {"getJointPositions", pybullet_getJointPositions, METH_VARARGS,
// "Get the joint positions for all joints."},
//
{"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."},
{"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"},