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use "world" to make door static (instead of using mass = 0)

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minor improvements to pybullet
This commit is contained in:
Erwin Coumans
2016-05-03 12:59:21 -07:00
parent 984c880b2c
commit fb65c29033
2 changed files with 105 additions and 36 deletions
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11
data/door.urdf
View File

@@ -1,10 +1,17 @@
<?xml version="0.0" ?>
<robot name="urdf_door">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="baseLink"/>
<origin xyz="0 0 0"/>
</joint>
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
<mass value="1.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.05 0 0.5"/>

130
examples/pybullet/pybullet.c
View File

@@ -8,15 +8,21 @@
#endif
static PyObject *SpamError;
static b3PhysicsClientHandle sm;
static b3PhysicsClientHandle sm=0;
static PyObject *
spam_step(PyObject *self, PyObject *args)
pybullet_stepSimulation(PyObject *self, PyObject *args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(sm))
{
@@ -29,15 +35,53 @@ return PyLong_FromLong(1);
}
static PyObject *
spam_loadURDF(PyObject* self, PyObject* args)
pybullet_connectPhysicsServer(PyObject *self, PyObject *args)
{
if (0!=sm)
{
PyErr_SetString(SpamError, "Already connected to physics server, disconnect first.");
return NULL;
}
{
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
}
return PyLong_FromLong(1);
}
static PyObject *
pybullet_disconnectPhysicsServer(PyObject *self, PyObject *args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3DisconnectSharedMemory(sm);
sm = 0;
}
return PyLong_FromLong(1);
}
static PyObject *
pybullet_loadURDF(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
int size= PySequence_Size(args);
int bodyIndex = -1;
const char* urdfFileName=0;
float startPosX =0;
float startPosY =0;
float startPosZ = 1;
float startPosY =0;
float startPosZ = 1;
float startOrnX = 0;
float startOrnY = 0;
float startOrnZ = 0;
@@ -61,29 +105,56 @@ spam_loadURDF(PyObject* self, PyObject* args)
&startOrnX,&startOrnY,&startOrnZ, &startOwnW))
return NULL;
}
printf("urdf filename = %s\n", urdfFileName);
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
{
printf("urdf filename = %s\n", urdfFileName);
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
//setting the initial position, orientation and other arguments are optional
int ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_URDF_LOADING_COMPLETED)
{
PyErr_SetString(SpamError, "Cannot load URDF file.");
return NULL;
}
bodyIndex = b3GetStatusBodyIndex(statusHandle);
//setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_URDF_LOADING_COMPLETED)
{
PyErr_SetString(SpamError, "Cannot load URDF file.");
return NULL;
}
bodyIndex = b3GetStatusBodyIndex(statusHandle);
}
return PyLong_FromLong(bodyIndex);
}
static PyObject *
pybullet_resetSimulation(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
// ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RESET_SIMULATION_COMPLETED);
}
}
static PyMethodDef SpamMethods[] = {
{"step", spam_step, METH_VARARGS,
"Step the simulation forward."},
{"loadURDF", spam_loadURDF, METH_VARARGS,
"Create a multibody by loading a URDF file."},
{"loadURDF", pybullet_loadURDF, METH_VARARGS,
"Create a multibody by loading a URDF file."},
{"connect", pybullet_connectPhysicsServer, METH_VARARGS,
"Connect to an existing physics server (using shared memory by default)."},
{"disconnect", pybullet_disconnectPhysicsServer, METH_VARARGS,
"Disconnect from the physics server."},
{"resetSimulation", pybullet_resetSimulation, METH_VARARGS,
"Reset the simulation: remove all objects and start from an empty world."},
{"stepSimulation", pybullet_stepSimulation, METH_VARARGS,
"Step the simulation using forward dynamics."},
{NULL, NULL, 0, NULL} /* Sentinel */
};
@@ -92,16 +163,7 @@ PyMODINIT_FUNC
initpybullet(void)
{
b3PhysicsClientHandle h;
PyObject *m;
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
//#ifdef __APPLE__
//sm = b3CreateInProcessPhysicsServerAndConnectMainThread(0,0);
//#else
//sm = b3CreateInProcessPhysicsServerAndConnect(0,0);
//#endif
m = Py_InitModule("pybullet", SpamMethods);
if (m == NULL)
return;