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Merge pull request #717 from matpalm/pyJointMotorControlArgs

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update pybullet_setJointMotorControl with seperate args for targetPosition, targetVelocity, kp and kd
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erwincoumans 2016-07-26 16:18:28 -07:00 committed by GitHub
commit 9451923dbd
1 changed files with 49 additions and 30 deletions
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79
examples/pybullet/pybullet.c
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@ -294,27 +294,27 @@ pybullet_resetSimulation(PyObject* self, PyObject* args)
static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
{
//todo(erwincoumans): set max forces, kp, kd
int size;
int bodyIndex, jointIndex, controlMode;
double targetValue=0;
double targetPosition=0;
double targetVelocity=0;
double maxForce=100000;
double gains=0.1;
double kp=0.1;
double kd=1.0;
int valid = 0;
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
size= PySequence_Size(args);
if (size==4)
{
// for CONTROL_MODE_VELOCITY targetValue -> velocity
// for CONTROL_MODE_TORQUE targetValue -> force torque
if (!PyArg_ParseTuple(args, "iiid", &bodyIndex, &jointIndex, &controlMode, &targetValue))
{
PyErr_SetString(SpamError, "Error parsing arguments");
@ -324,7 +324,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
}
if (size==5)
{
// for CONTROL_MODE_VELOCITY targetValue -> velocity
// for CONTROL_MODE_TORQUE targetValue -> force torque
if (!PyArg_ParseTuple(args, "iiidd", &bodyIndex, &jointIndex, &controlMode, &targetValue, &maxForce))
{
PyErr_SetString(SpamError, "Error parsing arguments");
@ -334,18 +335,38 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
}
if (size==6)
{
if (!PyArg_ParseTuple(args, "iiiddd", &bodyIndex, &jointIndex, &controlMode, &targetValue, &maxForce, &gains))
if (!PyArg_ParseTuple(args, "iiiddd", &bodyIndex, &jointIndex, &controlMode, &targetValue, &maxForce, &kd))
{
PyErr_SetString(SpamError, "Error parsing arguments");
return NULL;
}
valid = 1;
}
if (size==8)
{
// only applicable for CONTROL_MODE_POSITION_VELOCITY_PD.
if (!PyArg_ParseTuple(args, "iiiddddd", &bodyIndex, &jointIndex, &controlMode, &targetPosition, &targetVelocity, &maxForce, &kp, &kd))
{
PyErr_SetString(SpamError, "Error parsing arguments");
return NULL;
}
valid = 1;
}
if (size==8 && controlMode!=CONTROL_MODE_POSITION_VELOCITY_PD)
{
PyErr_SetString(SpamError, "8 argument call only applicable for control mode CONTROL_MODE_POSITION_VELOCITY_PD");
return NULL;
}
if (controlMode==CONTROL_MODE_POSITION_VELOCITY_PD && size!=8)
{
PyErr_SetString(SpamError, "For CONTROL_MODE_POSITION_VELOCITY_PD please call with explicit targetPosition & targetVelocity");
return NULL;
}
if (valid)
{
int numJoints;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
@ -357,7 +378,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
PyErr_SetString(SpamError, "Joint index out-of-range.");
return NULL;
}
if ((controlMode != CONTROL_MODE_VELOCITY) &&
(controlMode != CONTROL_MODE_TORQUE) &&
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD))
@ -365,19 +386,18 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
PyErr_SetString(SpamError, "Illegral control mode.");
return NULL;
}
commandHandle = b3JointControlCommandInit2(sm, bodyIndex,controlMode);
b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
switch (controlMode)
{
case CONTROL_MODE_VELOCITY:
{
double kd = gains;
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue);
b3JointControlSetKd(commandHandle,info.m_uIndex,kd);
b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, maxForce);
break;
}
@ -386,31 +406,30 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
b3JointControlSetDesiredForceTorque(commandHandle, info.m_uIndex, targetValue);
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
{
double kp = gains;
b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue);
b3JointControlSetKp(commandHandle,info.m_uIndex,kp);
b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
b3JointControlSetDesiredPosition(commandHandle, info.m_qIndex, targetPosition);
b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetVelocity);
b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, maxForce);
break;
}
default:
{
}
};
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
Py_INCREF(Py_None);
return Py_None;
}
PyErr_SetString(SpamError, "error in setJointControl.");
PyErr_SetString(SpamError, "Invalid number of args passed to setJointControl.");
return NULL;
}
static PyObject *
pybullet_setRealTimeSimulation(PyObject* self, PyObject* args)
{