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Merge pull request #1987 from erwincoumans/master

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make setJointPosMultiDof and setJointVelMultiDof argument const.
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erwincoumans 2018-11-11 20:17:15 -08:00 committed by GitHub
commit 38109dbd10
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30 changed files with 2612 additions and 38 deletions
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9
data/hinge.urdf
View File

@ -38,7 +38,7 @@
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="continuous">
<joint name="joint_baseLink_childA" type="spherical">
<parent link="baseLink"/>
<child link="childA"/>
<origin xyz="0 0 0"/>
@ -54,20 +54,21 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<sphere radius="0.2"/>
<box size="0.1 0.2 0.3 "/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<sphere radius="0.2"/>
<box size="0.1 0.2 0.3 "/>
</geometry>
</collision>
</link>
<joint name="joint_childA_childB" type="fixed">
<joint name="joint_childA_childB" type="continuous">
<parent link="childA"/>
<child link="childB"/>
<origin xyz="0 0 -0.2"/>
<axis xyz="1 0 0"/>
</joint>
</robot>

63
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@ -383,8 +383,65 @@ void ConvertURDF2BulletInternal(
switch (jointType)
{
case URDFFloatingJoint:
case URDFSphericalJoint:
{
if (createMultiBody)
{
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
cache.m_bulletMultiBody->setupSpherical(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
parentRotToThis, offsetInA.getOrigin(), -offsetInB.getOrigin(),
disableParentCollision);
}
else
{
btAssert(0);
}
break;
}
case URDFPlanarJoint:
{
if (createMultiBody)
{
#if 0
void setupPlanar(int i, // 0 to num_links-1
btScalar mass,
const btVector3 &inertia,
int parent,
const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0
const btVector3 &rotationAxis,
const btVector3 &parentComToThisComOffset, // vector from parent COM to this COM, in PARENT frame
bool disableParentCollision = false);
#endif
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
cache.m_bulletMultiBody->setupPlanar(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
parentRotToThis, quatRotate(offsetInB.getRotation(), jointAxisInJointSpace), offsetInA.getOrigin(),
disableParentCollision);
}
else
{
#if 0
//b3Printf("Fixed joint\n");
btGeneric6DofSpring2Constraint* dof6 = 0;
//backward compatibility
if (flags & CUF_RESERVED)
{
dof6 = creation.createFixedJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
}
else
{
dof6 = creation.createFixedJoint(urdfLinkIndex, *linkRigidBody, *parentRigidBody, offsetInB, offsetInA);
}
if (enableConstraints)
world1->addConstraint(dof6, true);
#endif
}
break;
}
case URDFFloatingJoint:
case URDFFixedJoint:
{
if ((jointType == URDFFloatingJoint) || (jointType == URDFPlanarJoint))
@ -426,7 +483,9 @@ void ConvertURDF2BulletInternal(
if (createMultiBody)
{
cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
parentRotToThis, quatRotate(offsetInB.getRotation(), jointAxisInJointSpace), offsetInA.getOrigin(), //parent2joint.getOrigin(),
parentRotToThis, quatRotate(offsetInB.getRotation(),
jointAxisInJointSpace),
offsetInA.getOrigin(),
-offsetInB.getOrigin(),
disableParentCollision);

2
examples/Importers/ImportURDFDemo/URDFJointTypes.h
View File

@ -11,6 +11,8 @@ enum UrdfJointTypes
URDFFloatingJoint,
URDFPlanarJoint,
URDFFixedJoint,
URDFSphericalJoint,
};
enum URDF_LinkContactFlags

4
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@ -1280,7 +1280,9 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, XMLElement* config, ErrorLogger* l
}
std::string type_str = type_char;
if (type_str == "planar")
if (type_str == "spherical")
joint.m_type = URDFSphericalJoint;
else if (type_str == "planar")
joint.m_type = URDFPlanarJoint;
else if (type_str == "floating")
joint.m_type = URDFFloatingJoint;

128
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@ -972,6 +972,51 @@ B3_SHARED_API int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemo
return 0;
}
B3_SHARED_API int b3GetJointStateMultiDof(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, b3JointSensorState2* state)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
b3Assert(status);
int bodyIndex = status->m_sendActualStateArgs.m_bodyUniqueId;
b3Assert(bodyIndex >= 0);
if (bodyIndex >= 0)
{
state->m_qDofSize = 0;
state->m_uDofSize = 0;
b3JointInfo info;
bool result = b3GetJointInfo(physClient, bodyIndex, jointIndex, &info) != 0;
if (result)
{
if ((info.m_qIndex >= 0) && (info.m_uIndex >= 0) && (info.m_qIndex < MAX_DEGREE_OF_FREEDOM) && (info.m_uIndex < MAX_DEGREE_OF_FREEDOM))
{
state->m_qDofSize = info.m_qSize;
state->m_uDofSize = info.m_uSize;
for (int i = 0; i < state->m_qDofSize; i++)
{
state->m_jointPosition[i] = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex + i];
}
for (int i = 0; i < state->m_uDofSize; i++)
{
state->m_jointVelocity[i] = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex+i];
}
}
else
{
state->m_jointPosition[0] = 0;
state->m_jointVelocity[0] = 0;
}
for (int ii(0); ii < 6; ++ii)
{
state->m_jointReactionForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
}
state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
return 1;
}
}
return 0;
}
B3_SHARED_API int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, b3LinkState* state)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
@ -1812,6 +1857,72 @@ B3_SHARED_API int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle phys
return 0;
}
B3_SHARED_API int b3CreatePoseCommandSetJointPositionMultiDof(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, const double* jointPosition, int posSize)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |= INIT_POSE_HAS_JOINT_STATE;
b3JointInfo info;
b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId, jointIndex, &info);
//if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >= 0)
if (info.m_qIndex >= 0)
{
if (posSize == info.m_qSize)
{
for (int i = 0; i < posSize; i++)
{
command->m_initPoseArgs.m_initialStateQ[info.m_qIndex + i] = jointPosition[i];
command->m_initPoseArgs.m_hasInitialStateQ[info.m_qIndex + i] = 1;
}
}
}
return 0;
}
B3_SHARED_API int b3CreatePoseCommandSetJointVelocity(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointVelocity)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |= INIT_POSE_HAS_JOINT_VELOCITY;
b3JointInfo info;
b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId, jointIndex, &info);
//btAssert((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_uIndex >=0);
if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && (info.m_uIndex >= 0) && (info.m_uIndex < MAX_DEGREE_OF_FREEDOM))
{
command->m_initPoseArgs.m_initialStateQdot[info.m_uIndex] = jointVelocity;
command->m_initPoseArgs.m_hasInitialStateQdot[info.m_uIndex] = 1;
}
return 0;
}
B3_SHARED_API int b3CreatePoseCommandSetJointVelocityMultiDof(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, const double* jointVelocity, int velSize)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |= INIT_POSE_HAS_JOINT_VELOCITY;
b3JointInfo info;
b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId, jointIndex, &info);
//if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && (info.m_uIndex >= 0) && (info.m_uIndex < MAX_DEGREE_OF_FREEDOM))
if ((info.m_uIndex >= 0) && (info.m_uIndex < MAX_DEGREE_OF_FREEDOM))
{
if (velSize == info.m_uSize)
{
for (int i = 0; i < velSize; i++)
{
command->m_initPoseArgs.m_initialStateQdot[info.m_uIndex + i] = jointVelocity[i];
command->m_initPoseArgs.m_hasInitialStateQdot[info.m_uIndex + i] = 1;
}
}
}
return 0;
}
B3_SHARED_API int b3CreatePoseCommandSetJointVelocities(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int numJointVelocities, const double* jointVelocities)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
@ -1848,22 +1959,7 @@ B3_SHARED_API int b3CreatePoseCommandSetQdots(b3SharedMemoryCommandHandle comman
return 0;
}
B3_SHARED_API int b3CreatePoseCommandSetJointVelocity(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointVelocity)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |= INIT_POSE_HAS_JOINT_VELOCITY;
b3JointInfo info;
b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId, jointIndex, &info);
//btAssert((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_uIndex >=0);
if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && (info.m_uIndex >= 0) && (info.m_uIndex < MAX_DEGREE_OF_FREEDOM))
{
command->m_initPoseArgs.m_initialStateQdot[info.m_uIndex] = jointVelocity;
command->m_initPoseArgs.m_hasInitialStateQdot[info.m_uIndex] = 1;
}
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
{

5
examples/SharedMemory/PhysicsClientC_API.h
View File

@ -524,13 +524,15 @@ extern "C"
B3_SHARED_API int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
B3_SHARED_API int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
B3_SHARED_API int b3CreatePoseCommandSetJointPositionMultiDof(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, const double* jointPosition, int posSize);
B3_SHARED_API int b3CreatePoseCommandSetQ(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* q, const int* hasQ);
B3_SHARED_API int b3CreatePoseCommandSetQdots(b3SharedMemoryCommandHandle commandHandle, int numJointVelocities, const double* qDots, const int* hasQdots);
B3_SHARED_API int b3CreatePoseCommandSetJointVelocities(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int numJointVelocities, const double* jointVelocities);
B3_SHARED_API int b3CreatePoseCommandSetJointVelocity(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointVelocity);
B3_SHARED_API int b3CreatePoseCommandSetJointVelocityMultiDof(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, const double* jointVelocity, int velSize);
///We are currently not reading the sensor information from the URDF file, and programmatically assign sensors.
///This is rather inconsistent, to mix programmatical creation with loading from file.
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
@ -546,6 +548,7 @@ extern "C"
B3_SHARED_API int b3RequestActualStateCommandComputeForwardKinematics(b3SharedMemoryCommandHandle commandHandle, int computeForwardKinematics);
B3_SHARED_API int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState* state);
B3_SHARED_API int b3GetJointStateMultiDof(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState2* state);
B3_SHARED_API int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState* state);
B3_SHARED_API b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,

26
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@ -149,6 +149,32 @@ bool PhysicsClientSharedMemory::getJointInfo(int bodyUniqueId, int jointIndex, b
if ((jointIndex >= 0) && (jointIndex < bodyJoints->m_jointInfo.size()))
{
info = bodyJoints->m_jointInfo[jointIndex];
switch (info.m_jointType)
{
case eSphericalType:
{
info.m_qSize = 4;//quaterion x,y,z,w
info.m_uSize = 3;
break;
}
case ePlanarType:
{
info.m_qSize = 2;
info.m_uSize = 2;
break;
}
case ePrismaticType:
case eRevoluteType:
{
info.m_qSize = 1;
info.m_uSize = 1;
break;
}
default:
{
}
}
return true;
}
}

31
examples/SharedMemory/PhysicsDirect.cpp
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@ -1291,6 +1291,37 @@ bool PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointIn
if ((jointIndex >= 0) && (jointIndex < bodyJoints->m_jointInfo.size()))
{
info = bodyJoints->m_jointInfo[jointIndex];
info.m_qSize = 0;
info.m_uSize = 0;
switch (info.m_jointType)
{
case eSphericalType:
{
info.m_qSize = 4;//quaterion x,y,z,w
info.m_uSize = 3;
break;
}
case ePlanarType:
{
info.m_qSize = 2;
info.m_uSize = 2;
break;
}
case ePrismaticType:
case eRevoluteType:
{
info.m_qSize = 1;
info.m_uSize = 1;
break;
}
default:
{
}
}
return true;
}
}

34
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -8007,17 +8007,39 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
int posVarCountIndex = 7;
for (int i = 0; i < mb->getNumLinks(); i++)
{
if ((clientCmd.m_initPoseArgs.m_hasInitialStateQ[posVarCountIndex]) && (mb->getLink(i).m_dofCount == 1))
bool hasPosVar = true;
for (int j = 0; j < mb->getLink(i).m_posVarCount; j++)
{
mb->setJointPos(i, clientCmd.m_initPoseArgs.m_initialStateQ[posVarCountIndex]);
mb->setJointVel(i, 0); //backwards compatibility
if (clientCmd.m_initPoseArgs.m_hasInitialStateQ[posVarCountIndex+j] == 0)
{
hasPosVar = false;
break;
}
}
if ((clientCmd.m_initPoseArgs.m_hasInitialStateQdot[uDofIndex]) && (mb->getLink(i).m_dofCount == 1))
if (hasPosVar)
{
btScalar vel = clientCmd.m_initPoseArgs.m_initialStateQdot[uDofIndex];
mb->setJointVel(i, vel);
mb->setJointPosMultiDof(i, &clientCmd.m_initPoseArgs.m_initialStateQ[posVarCountIndex]);
double vel[6] = { 0, 0, 0, 0, 0, 0 };
mb->setJointVelMultiDof(i, vel);
}
bool hasVel = true;
for (int j = 0; j < mb->getLink(i).m_dofCount; j++)
{
if (clientCmd.m_initPoseArgs.m_hasInitialStateQdot[uDofIndex + j] == 0)
{
hasVel = false;
break;
}
}
if (hasVel)
{
mb->setJointVelMultiDof(i, &clientCmd.m_initPoseArgs.m_initialStateQdot[uDofIndex]);
}
posVarCountIndex += mb->getLink(i).m_posVarCount;
uDofIndex += mb->getLink(i).m_dofCount;
}

12
examples/SharedMemory/SharedMemoryPublic.h
View File

@ -274,6 +274,8 @@ struct b3JointInfo
double m_childFrame[7]; // ^^^
double m_jointAxis[3]; // joint axis in parent local frame
int m_parentIndex;
int m_qSize;
int m_uSize;
};
enum UserDataValueType
@ -357,6 +359,16 @@ struct b3JointSensorState
double m_jointMotorTorque;
};
struct b3JointSensorState2
{
double m_jointPosition[4];
double m_jointVelocity[3];
double m_jointReactionForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
double m_jointMotorTorque;
int m_qDofSize;
int m_uDofSize;
};
struct b3DebugLines
{
int m_numDebugLines;

4
examples/pybullet/examples/constraint.py
View File

@ -9,8 +9,8 @@ cubeId = p.loadURDF("cube_small.urdf",0,0,1)
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
cid = p.createConstraint(cubeId,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,1])
print cid
print p.getConstraintUniqueId(0)
print (cid)
print (p.getConstraintUniqueId(0))
prev=[0,0,1]
a=-math.pi
while 1:

116
examples/pybullet/examples/humanoidMotionCapture.py Normal file
View File

@ -0,0 +1,116 @@
import pybullet as p
import json
p.connect(p.GUI)
#p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP , 1)
import pybullet_data
useMotionCapture=True
p.setAdditionalSearchPath(pybullet_data.getDataPath())
path = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt"
p.loadURDF("plane.urdf")
print("path = ", path)
with open(path, 'r') as f:
motion_dict = json.load(f)
#print("motion_dict = ", motion_dict)
print("len motion=", len(motion_dict))
print(motion_dict['Loop'])
numFrames = len(motion_dict['Frames'])
print("#frames = ", numFrames)
frameId= p.addUserDebugParameter("frame",0,numFrames-1,0)
jointTypes = ["JOINT_REVOLUTE","JOINT_PRISMATIC",
"JOINT_SPHERICAL","JOINT_PLANAR","JOINT_FIXED"]
humanoid = p.loadURDF("humanoid/humanoid.urdf", globalScaling=0.25)
for j in range (p.getNumJoints(humanoid)):
ji = p.getJointInfo(humanoid,j)
#print(ji)
print("joint[",j,"].type=",jointTypes[ji[2]])
print("joint[",j,"].name=",ji[1])
jointIds=[]
paramIds=[]
for j in range (p.getNumJoints(humanoid)):
p.changeDynamics(humanoid,j,linearDamping=0, angularDamping=0)
p.changeVisualShape(humanoid,j,rgbaColor=[1,1,1,1])
info = p.getJointInfo(humanoid,j)
#print(info)
if (not useMotionCapture):
jointName = info[1]
jointType = info[2]
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
jointIds.append(j)
paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,0))
print("jointName=",jointName, "at ", j)
p.changeVisualShape(humanoid,14,rgbaColor=[1,0,0,1])
chest=1
neck=2
rightShoulder=3
rightElbow=4
leftShoulder=6
leftElbow = 7
rightHip = 9
rightKnee=10
rightAnkle=11
leftHip = 12
leftKnee=13
leftAnkle=14
import time
p.setRealTimeSimulation(0)
while (1):
p.getCameraImage(320,200)
frame = int(p.readUserDebugParameter(frameId))
frameData = motion_dict['Frames'][frame]
#print("duration=",frameData[0])
#print(pos=[frameData])
basePos1 = [frameData[1],frameData[2],frameData[3]]
baseOrn1 = [frameData[5],frameData[6], frameData[7],frameData[4]]
#pre-rotate to make z-up
y2zPos=[0,0,0]
y2zOrn = p.getQuaternionFromEuler([1.57,0,0])
basePos,baseOrn = p.multiplyTransforms(y2zPos, y2zOrn,basePos1,baseOrn1)
p.resetBasePositionAndOrientation(humanoid, basePos,baseOrn)
chestRot = [frameData[9],frameData[10],frameData[11],frameData[8]]
neckRot = [frameData[13],frameData[14],frameData[15],frameData[12]]
rightHipRot = [frameData[17],frameData[18],frameData[19],frameData[16]]
rightKneeRot = [frameData[20]]
rightAnkleRot = [frameData[22],frameData[23],frameData[24],frameData[21]]
rightShoulderRot = [frameData[26],frameData[27],frameData[28],frameData[25]]
rightElbowRot = [frameData[29]]
leftHipRot = [frameData[31],frameData[32],frameData[33],frameData[30]]
leftKneeRot = [frameData[34]]
leftAnkleRot = [frameData[36],frameData[37],frameData[38],frameData[35]]
leftShoulderRot = [frameData[40],frameData[41],frameData[42],frameData[39]]
leftElbowRot = [frameData[43]]
#print("chestRot=",chestRot)
if (useMotionCapture):
p.resetJointStateMultiDof(humanoid,chest,chestRot)
p.resetJointStateMultiDof(humanoid,neck,neckRot)
p.resetJointStateMultiDof(humanoid,rightHip,rightHipRot)
p.resetJointStateMultiDof(humanoid,rightKnee,rightKneeRot)
p.resetJointStateMultiDof(humanoid,rightAnkle,rightAnkleRot)
p.resetJointStateMultiDof(humanoid,rightShoulder,rightShoulderRot)
p.resetJointStateMultiDof(humanoid,rightElbow, rightElbowRot)
p.resetJointStateMultiDof(humanoid,leftHip, leftHipRot)
p.resetJointStateMultiDof(humanoid,leftKnee, leftKneeRot)
p.resetJointStateMultiDof(humanoid,leftAnkle, leftAnkleRot)
p.resetJointStateMultiDof(humanoid,leftShoulder, leftShoulderRot)
p.resetJointStateMultiDof(humanoid,leftElbow, leftElbowRot)
else:
for i in range(len(paramIds)):
c = paramIds[i]
targetPos = p.readUserDebugParameter(c)
p.setJointMotorControl2(humanoid,jointIds[i],
p.POSITION_CONTROL,targetPos, force=5*240.)
time.sleep(0.1)

284
examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf Normal file
View File

@ -0,0 +1,284 @@
<robot name="dumpUrdf">
<link name="base" >
<inertial>
<origin rpy = "0 0 0" xyz = "0 0 0" />
<mass value = "0.000000" />
<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
</inertial>
</link>
<link name="link0" >
<inertial>
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</robot>

38
examples/pybullet/gym/pybullet_data/motions/humanoid3d_backflip.txt Normal file
View File

@ -0,0 +1,38 @@
{
"Loop": "wrap",
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]
}

176
examples/pybullet/gym/pybullet_data/motions/humanoid3d_cartwheel.txt Normal file
View File

@ -0,0 +1,176 @@
{
"Loop": "wrap",
"RightJoints": [3, 4, 5, 6, 7, 8],
"LeftJoints": [9, 10, 11, 12, 13, 14],
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}

183
examples/pybullet/gym/pybullet_data/motions/humanoid3d_crawl.txt Normal file
View File

@ -0,0 +1,183 @@
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}

104
examples/pybullet/gym/pybullet_data/motions/humanoid3d_dance_a.txt Normal file
View File

@ -0,0 +1,104 @@
{
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}

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examples/pybullet/gym/pybullet_data/motions/humanoid3d_dance_b.txt Normal file
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@ -0,0 +1,159 @@
{
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}

189
examples/pybullet/gym/pybullet_data/motions/humanoid3d_getup_facedown.txt Normal file
View File

@ -0,0 +1,189 @@
{
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}

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examples/pybullet/gym/pybullet_data/motions/humanoid3d_getup_faceup.txt Normal file
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@ -0,0 +1,233 @@
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}

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examples/pybullet/gym/pybullet_data/motions/humanoid3d_jump.txt Normal file
View File

@ -0,0 +1,113 @@
{
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}

53
examples/pybullet/gym/pybullet_data/motions/humanoid3d_kick.txt Normal file
View File

@ -0,0 +1,53 @@
{
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}

71
examples/pybullet/gym/pybullet_data/motions/humanoid3d_punch.txt Normal file
View File

@ -0,0 +1,71 @@
{
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}

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examples/pybullet/gym/pybullet_data/motions/humanoid3d_roll.txt Normal file
View File

@ -0,0 +1,127 @@
{
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}

36
examples/pybullet/gym/pybullet_data/motions/humanoid3d_run.txt Normal file
View File

@ -0,0 +1,36 @@
{
"Loop": "wrap",
"RightJoints": [3, 4, 5, 6, 7, 8],
"LeftJoints": [9, 10, 11, 12, 13, 14],
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]
}

113
examples/pybullet/gym/pybullet_data/motions/humanoid3d_spin.txt Normal file
View File

@ -0,0 +1,113 @@
{
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}

84
examples/pybullet/gym/pybullet_data/motions/humanoid3d_spinkick.txt Normal file
View File

@ -0,0 +1,84 @@
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[0.016666, 0.352178, 0.816287, 0.105687, -0.921004, 0.175126, 0.347288, -0.021733, 0.989191, 0.061628, -0.101336, -0.086221, 0.961290, 0.041495, -0.109022, -0.249627, 0.939924, 0.029808, 0.237555, 0.243357, -0.529038, 0.965391, 0.181416, 0.173483, 0.070789, 0.866182, -0.177157, -0.001737, -0.467270, 0.775052, 0.993167, 0.106127, -0.011085, -0.047260, -0.751747, 0.944105, -0.094950, -0.080072, 0.305350, 0.795078, 0.410392, -0.252795, 0.368135, 1.780497],
[0.016666, 0.370064, 0.807844, 0.113266, -0.944717, 0.155777, 0.288010, -0.017130, 0.991497, 0.050371, -0.099636, -0.066845, 0.964581, 0.041996, -0.100692, -0.240169, 0.951992, 0.037614, 0.228370, 0.200360, -0.487330, 0.958401, 0.196943, 0.196780, 0.062916, 0.852821, -0.215327, -0.009380, -0.475650, 0.727604, 0.994024, 0.097905, -0.035326, -0.032922, -0.785488, 0.940061, -0.092029, -0.113773, 0.308013, 0.800495, 0.411137, -0.286850, 0.328469, 1.741260],
[0.016666, 0.384235, 0.799777, 0.120387, -0.960156, 0.144320, 0.239121, -0.009616, 0.993561, 0.038316, -0.092234, -0.053492, 0.968350, 0.042358, -0.087569, -0.229860, 0.954283, 0.054731, 0.227938, 0.185454, -0.539551, 0.980235, 0.078272, 0.099056, 0.152316, 0.843848, -0.246331, -0.018480, -0.476341, 0.678521, 0.993650, 0.103125, -0.043838, -0.010181, -0.846489, 0.935482, -0.093089, -0.154904, 0.303665, 0.799634, 0.419408, -0.316337, 0.290883, 1.711933],
[0.016666, 0.394345, 0.792467, 0.126141, -0.969170, 0.136027, 0.205422, -0.002725, 0.995591, 0.029057, -0.079093, -0.041204, 0.972098, 0.039208, -0.067890, -0.221088, 0.939062, 0.062476, 0.271966, 0.200732, -0.655539, 0.980616, 0.055850, -0.015712, 0.187152, 0.839578, -0.276102, -0.024529, -0.467198, 0.625098, 0.992639, 0.114119, -0.035045, 0.020410, -0.935171, 0.933292, -0.092171, -0.198528, 0.284705, 0.798681, 0.428934, -0.335628, 0.255887, 1.677226],
[0.016666, 0.403151, 0.785995, 0.129885, -0.975596, 0.126306, 0.179580, -0.002961, 0.997231, 0.020105, -0.063738, -0.032602, 0.976495, 0.032975, -0.043493, -0.208517, 0.925759, 0.059846, 0.299402, 0.223042, -0.791937, 0.979915, 0.016791, -0.048924, 0.192590, 0.838490, -0.305251, -0.024650, -0.450719, 0.577103, 0.990984, 0.121400, -0.021809, 0.052324, -1.044896, 0.935018, -0.094407, -0.241543, 0.241837, 0.801769, 0.435296, -0.342839, 0.223933, 1.638682],
[0.016666, 0.413695, 0.781319, 0.129782, -0.980311, 0.115781, 0.159453, -0.012662, 0.997747, 0.004582, -0.051271, -0.043034, 0.979027, 0.027074, -0.011455, -0.201597, 0.929875, 0.045511, 0.293222, 0.217444, -0.845573, 0.978125, 0.028346, -0.036984, 0.202732, 0.840380, -0.338014, -0.019234, -0.423248, 0.544396, 0.989437, 0.123523, -0.003461, 0.075788, -1.151078, 0.936845, -0.118122, -0.272504, 0.184688, 0.815460, 0.435727, -0.330094, 0.190276, 1.588316],
[0.016666, 0.425984, 0.778401, 0.126448, -0.986649, 0.100096, 0.127303, -0.017297, 0.997534, -0.008356, -0.042700, -0.055067, 0.979058, 0.024198, 0.014394, -0.201623, 0.947270, 0.014684, 0.251151, 0.198461, -0.846167, 0.972793, 0.044112, -0.005798, 0.227364, 0.836098, -0.369838, -0.020518, -0.404647, 0.552598, 0.987768, 0.116194, 0.002207, 0.103967, -1.243582, 0.936888, -0.168146, -0.283586, 0.116389, 0.833426, 0.419262, -0.321227, 0.162587, 1.502413],
[0.016666, 0.439746, 0.777166, 0.124164, -0.992517, 0.089960, 0.080578, -0.018038, 0.997483, -0.009476, -0.040299, -0.057566, 0.977303, 0.019758, 0.030826, -0.208660, 0.967986, -0.010460, 0.182185, 0.172341, -0.818455, 0.965914, 0.049292, 0.014623, 0.253706, 0.827542, -0.399474, -0.018980, -0.393999, 0.569474, 0.984709, 0.112859, -0.005222, 0.132600, -1.324582, 0.927764, -0.249653, -0.270751, 0.060183, 0.855283, 0.386999, -0.317011, 0.135010, 1.384124],
[0.016666, 0.449855, 0.788421, 0.125001, -0.994866, 0.094608, 0.033816, -0.012164, 0.998128, -0.003929, -0.038000, -0.047763, 0.975440, 0.020210, 0.049909, -0.213583, 0.978704, -0.014232, 0.130871, 0.157511, -0.797629, 0.963081, 0.052932, 0.017431, 0.263381, 0.821386, -0.421272, -0.016074, -0.384183, 0.589530, 0.977237, 0.126283, -0.012680, 0.169999, -1.405128, 0.920417, -0.306959, -0.240794, 0.025056, 0.874324, 0.357204, -0.311539, 0.104432, 1.266083],
[0.016666, 0.459782, 0.802607, 0.125123, -0.995586, 0.092996, 0.000351, -0.012669, 0.998793, -0.004157, -0.031431, -0.037514, 0.974139, 0.019909, 0.059007, -0.217200, 0.983540, -0.017850, 0.104703, 0.146176, -0.806368, 0.965459, 0.037734, 0.010254, 0.257604, 0.821927, -0.436033, -0.020301, -0.365922, 0.611780, 0.971953, 0.130493, -0.006865, 0.195529, -1.458440, 0.927503, -0.313342, -0.188790, 0.076902, 0.891524, 0.335684, -0.296095, 0.069492, 1.180161],
[0.000000, 0.468889, 0.825094, 0.125169, -0.995679, 0.088473, -0.024728, -0.013585, 0.999144, -0.008740, -0.023420, -0.032953, 0.973509, 0.020808, 0.067281, -0.217534, 0.984559, -0.020464, 0.102981, 0.140067, -0.829316, 0.970199, 0.033640, -0.002136, 0.239953, 0.829065, -0.442937, -0.031014, -0.339848, 0.641689, 0.966869, 0.131122, 0.006503, 0.218928, -1.468388, 0.932452, -0.315766, -0.139667, 0.106384, 0.906377, 0.324845, -0.268113, 0.032748, 1.128085]
]
}

222
examples/pybullet/pybullet.c
View File

@ -3450,6 +3450,112 @@ static PyObject* pybullet_resetJointState(PyObject* self, PyObject* args, PyObje
return Py_None;
}
// Initalize all joint positions given a list of values
static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int bodyUniqueId;
int jointIndex;
double targetPositionArray[4] = { 0, 0, 0, 0 };
double targetVelocityArray[3] = { 0, 0, 0 };
int targetPositionSize = 0;
int targetVelocitySize = 0;
b3PhysicsClientHandle sm = 0;
PyObject* targetPositionObj = 0;
PyObject* targetVelocityObj = 0;
int physicsClientId = 0;
static char* kwlist[] = { "bodyUniqueId", "jointIndex", "targetValue", "targetVelocity", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|Oi", kwlist, &bodyUniqueId, &jointIndex, &targetPositionObj, &targetVelocityObj, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (targetPositionObj)
{
PyObject* targetPositionSeq = 0;
int i = 0;
targetPositionSeq = PySequence_Fast(targetPositionObj, "expected a targetPosition sequence");
targetPositionSize = PySequence_Size(targetPositionObj);
if (targetPositionSize < 0)
{
targetPositionSize = 0;
}
if (targetPositionSize >4)
{
targetPositionSize = 4;
}
for (i = 0; i < targetPositionSize; i++)
{
targetPositionArray[i] = pybullet_internalGetFloatFromSequence(targetPositionSeq, i);
}
}
if (targetVelocityObj)
{
int i = 0;
PyObject* targetVelocitySeq = 0;
targetVelocitySeq = PySequence_Fast(targetVelocityObj, "expected a targetVelocity sequence");
targetVelocitySize = PySequence_Size(targetVelocityObj);
if (targetVelocitySize < 0)
{
targetVelocitySize = 0;
}
if (targetVelocitySize >3)
{
targetVelocitySize = 3;
}
for (i = 0; i < targetVelocitySize; i++)
{
targetVelocityArray[i] = pybullet_internalGetFloatFromSequence(targetVelocitySeq, i);
}
}
if (targetPositionSize == 0 && targetVelocitySize == 0)
{
PyErr_SetString(SpamError, "Expected an position and/or velocity list.");
return NULL;
}
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int numJoints;
numJoints = b3GetNumJoints(sm, bodyUniqueId);
if ((jointIndex >= numJoints) || (jointIndex < 0))
{
PyErr_SetString(SpamError, "Joint index out-of-range.");
return NULL;
}
commandHandle = b3CreatePoseCommandInit(sm, bodyUniqueId);
if (targetPositionSize)
{
b3CreatePoseCommandSetJointPositionMultiDof(sm, commandHandle, jointIndex, targetPositionArray, targetPositionSize);
}
if (targetVelocitySize)
{
b3CreatePoseCommandSetJointVelocityMultiDof(sm, commandHandle, jointIndex, targetVelocityArray, targetVelocitySize);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_resetBaseVelocity(PyObject* self, PyObject* args, PyObject* keywds)
{
static char* kwlist[] = {"objectUniqueId", "linearVelocity", "angularVelocity", "physicsClientId", NULL};
@ -3831,6 +3937,114 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args, PyObject
return Py_None;
}
static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args, PyObject* keywds)
{
PyObject* pyListJointForceTorque;
PyObject* pyListJointState;
PyObject* pyListPosition;
PyObject* pyListVelocity;
struct b3JointSensorState2 sensorState;
int bodyUniqueId = -1;
int jointIndex = -1;
int sensorStateSize = 4; // size of struct b3JointSensorState
int forceTorqueSize = 6; // size of force torque list from b3JointSensorState
int j;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = { "bodyUniqueId", "jointIndex", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &jointIndex, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
{
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle status_handle;
if (bodyUniqueId < 0)
{
PyErr_SetString(SpamError, "getJointState failed; invalid bodyUniqueId");
return NULL;
}
if (jointIndex < 0)
{
PyErr_SetString(SpamError, "getJointState failed; invalid jointIndex");
return NULL;
}
cmd_handle =
b3RequestActualStateCommandInit(sm, bodyUniqueId);
status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle);
if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
PyErr_SetString(SpamError, "getJointState failed.");
return NULL;
}
pyListJointState = PyTuple_New(sensorStateSize);
pyListJointForceTorque = PyTuple_New(forceTorqueSize);
if (b3GetJointStateMultiDof(sm, status_handle, jointIndex, &sensorState))
{
int i = 0;
pyListPosition = PyTuple_New(sensorState.m_qDofSize);
pyListVelocity = PyTuple_New(sensorState.m_uDofSize);
PyTuple_SetItem(pyListJointState, 0, pyListPosition);
PyTuple_SetItem(pyListJointState, 1, pyListVelocity);
for (i = 0; i < sensorState.m_qDofSize; i++)
{
PyTuple_SetItem(pyListPosition, i,
PyFloat_FromDouble(sensorState.m_jointPosition[i]));
}
for (i = 0; i < sensorState.m_uDofSize; i++)
{
PyTuple_SetItem(pyListVelocity, i,
PyFloat_FromDouble(sensorState.m_jointVelocity[i]));
}
for (j = 0; j < forceTorqueSize; j++)
{
PyTuple_SetItem(pyListJointForceTorque, j,
PyFloat_FromDouble(sensorState.m_jointReactionForceTorque[j]));
}
PyTuple_SetItem(pyListJointState, 2, pyListJointForceTorque);
PyTuple_SetItem(pyListJointState, 3,
PyFloat_FromDouble(sensorState.m_jointMotorTorque));
return pyListJointState;
}
else
{
PyErr_SetString(SpamError, "getJointState failed (2).");
return NULL;
}
}
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_getJointStates(PyObject* self, PyObject* args, PyObject* keywds)
{
PyObject* pyListJointForceTorque;
@ -9494,6 +9708,9 @@ static PyMethodDef SpamMethods[] = {
{"getJointState", (PyCFunction)pybullet_getJointState, METH_VARARGS | METH_KEYWORDS,
"Get the state (position, velocity etc) for a joint on a body."},
{ "getJointStateMultiDof", (PyCFunction)pybullet_getJointStateMultiDof, METH_VARARGS | METH_KEYWORDS,
"Get the state (position, velocity etc) for a joint on a body. (supports planar and spherical joints)" },
{"getJointStates", (PyCFunction)pybullet_getJointStates, METH_VARARGS | METH_KEYWORDS,
"Get the state (position, velocity etc) for multiple joints on a body."},
@ -9513,6 +9730,11 @@ static PyMethodDef SpamMethods[] = {
"Reset the state (position, velocity etc) for a joint on a body "
"instantaneously, not through physics simulation."},
{ "resetJointStateMultiDof", (PyCFunction)pybullet_resetJointStateMultiDof, METH_VARARGS | METH_KEYWORDS,
"resetJointStateMultiDof(objectUniqueId, jointIndex, targetValue, targetVelocity=0, physicsClientId=0)\n"
"Reset the state (position, velocity etc) for a joint on a body "
"instantaneously, not through physics simulation." },
{"changeDynamics", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"change dynamics information such as mass, lateral friction coefficient."},

25
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@ -396,23 +396,40 @@ void btMultiBody::setJointPos(int i, btScalar q)
m_links[i].updateCacheMultiDof();
}
void btMultiBody::setJointPosMultiDof(int i, btScalar *q)
void btMultiBody::setJointPosMultiDof(int i, const double *q)
{
for (int pos = 0; pos < m_links[i].m_posVarCount; ++pos)
m_links[i].m_jointPos[pos] = q[pos];
m_links[i].m_jointPos[pos] = (btScalar)q[pos];
m_links[i].updateCacheMultiDof();
}
void btMultiBody::setJointPosMultiDof(int i, const float *q)
{
for (int pos = 0; pos < m_links[i].m_posVarCount; ++pos)
m_links[i].m_jointPos[pos] = (btScalar)q[pos];
m_links[i].updateCacheMultiDof();
}
void btMultiBody::setJointVel(int i, btScalar qdot)
{
m_realBuf[6 + m_links[i].m_dofOffset] = qdot;
}
void btMultiBody::setJointVelMultiDof(int i, btScalar *qdot)
void btMultiBody::setJointVelMultiDof(int i, const double *qdot)
{
for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
m_realBuf[6 + m_links[i].m_dofOffset + dof] = qdot[dof];
m_realBuf[6 + m_links[i].m_dofOffset + dof] = (btScalar)qdot[dof];
}
void btMultiBody::setJointVelMultiDof(int i, const float* qdot)
{
for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
m_realBuf[6 + m_links[i].m_dofOffset + dof] = (btScalar)qdot[dof];
}
const btVector3 &btMultiBody::getRVector(int i) const

6
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@ -235,8 +235,10 @@ public:
void setJointPos(int i, btScalar q);
void setJointVel(int i, btScalar qdot);
void setJointPosMultiDof(int i, btScalar *q);
void setJointVelMultiDof(int i, btScalar *qdot);
void setJointPosMultiDof(int i, const double *q);
void setJointVelMultiDof(int i, const double *qdot);
void setJointPosMultiDof(int i, const float *q);
void setJointVelMultiDof(int i, const float *qdot);
//
// direct access to velocities as a vector of 6 + num_links elements.