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[python] Convert physics calls to double precision.

Browse Source 
In order to feed Bullet the correct values when
compiled with double precision the pybullet interface
needs to pass double precision values.
This commit is contained in:
Jeffrey Bingham 2016-09-06 23:27:34 -07:00
parent 4944aca28b
commit edef18e161
1 changed files with 151 additions and 151 deletions
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302
examples/pybullet/pybullet.c
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@ -14,7 +14,7 @@
#if PY_MAJOR_VERSION >= 3
#define PyInt_FromLong PyLong_FromLong
#define PyString_FromString PyBytes_FromString
#endif
#endif
enum eCONNECT_METHOD
{
@ -46,7 +46,7 @@ pybullet_stepSimulation(PyObject *self, PyObject *args)
{
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
statusType = b3GetStatusType(statusHandle);
}
}
}
Py_INCREF(Py_None);
@ -61,7 +61,7 @@ pybullet_connectPhysicsServer(PyObject *self, PyObject *args)
PyErr_SetString(SpamError, "Already connected to physics server, disconnect first.");
return NULL;
}
{
int method=eCONNECT_GUI;
if (!PyArg_ParseTuple(args, "i", &method))
@ -102,10 +102,10 @@ pybullet_connectPhysicsServer(PyObject *self, PyObject *args)
return NULL;
}
};
}
Py_INCREF(Py_None);
return Py_None;
}
@ -122,7 +122,7 @@ pybullet_disconnectPhysicsServer(PyObject *self, PyObject *args)
b3DisconnectSharedMemory(sm);
sm = 0;
}
Py_INCREF(Py_None);
return Py_None;
}
@ -135,19 +135,19 @@ pybullet_disconnectPhysicsServer(PyObject *self, PyObject *args)
static PyObject *
pybullet_loadURDF(PyObject* self, PyObject* args)
{
int size= PySequence_Size(args);
int bodyIndex = -1;
const char* urdfFileName="";
float startPosX =0;
float startPosY =0;
float startPosZ = 0;
float startOrnX = 0;
float startOrnY = 0;
float startOrnZ = 0;
float startOrnW = 1;
double startPosX = 0.0;
double startPosY = 0.0;
double startPosZ = 0.0;
double startOrnX = 0.0;
double startOrnY = 0.0;
double startOrnZ = 0.0;
double startOrnW = 1.0;
if (0==sm)
{
@ -157,26 +157,26 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
if (size==1)
{
if (!PyArg_ParseTuple(args, "s", &urdfFileName))
return NULL;
return NULL;
}
if (size == 4)
{
if (!PyArg_ParseTuple(args, "sfff", &urdfFileName,
if (!PyArg_ParseTuple(args, "sddd", &urdfFileName,
&startPosX,&startPosY,&startPosZ))
return NULL;
}
if (size==8)
{
if (!PyArg_ParseTuple(args, "sfffffff", &urdfFileName,
if (!PyArg_ParseTuple(args, "sddddddd", &urdfFileName,
&startPosX,&startPosY,&startPosZ,
&startOrnX,&startOrnY,&startOrnZ, &startOrnW))
return NULL;
}
if (strlen(urdfFileName))
{
// printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW);
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
@ -200,11 +200,11 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
return PyLong_FromLong(bodyIndex);
}
static float pybullet_internalGetFloatFromSequence(PyObject* seq, int index)
static double pybullet_internalGetFloatFromSequence(PyObject* seq, int index)
{
float v = 0.f;
double v = 0.f;
PyObject* item;
if (PyList_Check(seq))
{
item = PyList_GET_ITEM(seq, index);
@ -264,7 +264,7 @@ pybullet_loadSDF(PyObject* self, PyObject* args)
pylist = PyTuple_New(numBodies);
if (numBodies >0 && numBodies <= MAX_SDF_BODIES)
if (numBodies >0 && numBodies <= MAX_SDF_BODIES)
{
for (i=0;i<numBodies;i++)
{
@ -296,7 +296,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
{
int size;
int bodyIndex, jointIndex, controlMode;
double targetPosition=0;
double targetVelocity=0;
double maxForce=100000;
@ -344,7 +344,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
valid = 0;
}
}
}
if (size==5)
{
@ -427,7 +427,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
valid = 1;
}
if (valid)
{
@ -540,15 +540,15 @@ pybullet_setGravity(PyObject* self, PyObject* args)
}
{
float gravX=0;
float gravY=0;
float gravZ=-10;
double gravX=0;
double gravY=0;
double gravZ=-10;
int ret;
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
if (!PyArg_ParseTuple(args, "fff", &gravX,&gravY,&gravZ))
if (!PyArg_ParseTuple(args, "ddd", &gravX,&gravY,&gravZ))
{
PyErr_SetString(SpamError, "setGravity expected (x,y,z) values.");
return NULL;
@ -571,14 +571,14 @@ pybullet_setTimeStep(PyObject* self, PyObject* args)
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
double timeStep=0.001;
int ret;
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
if (!PyArg_ParseTuple(args, "d", &timeStep))
{
PyErr_SetString(SpamError, "setTimeStep expected a single value (double).");
@ -588,7 +588,7 @@ pybullet_setTimeStep(PyObject* self, PyObject* args)
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
//ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
}
Py_INCREF(Py_None);
return Py_None;
}
@ -602,14 +602,14 @@ static int pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double
basePosition[0] = 0.;
basePosition[1] = 0.;
basePosition[2] = 0.;
baseOrientation[0] = 0.;
baseOrientation[1] = 0.;
baseOrientation[2] = 0.;
baseOrientation[3] = 1.;
{
{
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
@ -642,12 +642,12 @@ static int pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double
basePosition[0] = actualStateQ[0];
basePosition[1] = actualStateQ[1];
basePosition[2] = actualStateQ[2];
baseOrientation[0] = actualStateQ[3];
baseOrientation[1] = actualStateQ[4];
baseOrientation[2] = actualStateQ[5];
baseOrientation[3] = actualStateQ[6];
}
}
return 1;
@ -671,7 +671,7 @@ pybullet_getBasePositionAndOrientation(PyObject* self, PyObject* args)
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (!PyArg_ParseTuple(args, "i", &bodyIndex ))
{
PyErr_SetString(SpamError, "Expected a body index (integer).");
@ -683,43 +683,43 @@ pybullet_getBasePositionAndOrientation(PyObject* self, PyObject* args)
PyErr_SetString(SpamError, "GetBasePositionAndOrientation failed (#joints/links exceeds maximum?).");
return NULL;
}
{
PyObject *item;
PyObject *item;
int i;
int num=3;
pylistPos = PyTuple_New(num);
for (i = 0; i < num; i++)
for (i = 0; i < num; i++)
{
item = PyFloat_FromDouble(basePosition[i]);
PyTuple_SetItem(pylistPos, i, item);
}
}
{
PyObject *item;
PyObject *item;
int i;
int num=4;
pylistOrientation = PyTuple_New(num);
for (i = 0; i < num; i++)
for (i = 0; i < num; i++)
{
item = PyFloat_FromDouble(baseOrientation[i]);
PyTuple_SetItem(pylistOrientation, i, item);
}
}
{
PyObject *pylist;
PyObject *pylist;
pylist = PyTuple_New(2);
PyTuple_SetItem(pylist,0,pylistPos);
PyTuple_SetItem(pylist,1,pylistOrientation);
return pylist;
}
}
// Return the number of joints in an object based on
@ -765,26 +765,26 @@ pybullet_resetJointState(PyObject* self, PyObject* args)
size= PySequence_Size(args);
if (size==3)
{
int bodyIndex;
int jointIndex;
double targetValue;
if (PyArg_ParseTuple(args, "iid", &bodyIndex, &jointIndex, &targetValue))
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int numJoints;
numJoints = b3GetNumJoints(sm,bodyIndex);
if ((jointIndex >= numJoints) || (jointIndex < 0))
{
PyErr_SetString(SpamError, "Joint index out-of-range.");
return NULL;
}
commandHandle = b3CreatePoseCommandInit(sm, bodyIndex);
b3CreatePoseCommandSetJointPosition(sm, commandHandle, jointIndex, targetValue);
@ -809,10 +809,10 @@ pybullet_resetBasePositionAndOrientation(PyObject* self, PyObject* args)
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
size= PySequence_Size(args);
if (size==3)
{
int bodyIndex;
@ -820,12 +820,12 @@ pybullet_resetBasePositionAndOrientation(PyObject* self, PyObject* args)
PyObject* ornObj;
double pos[3];
double orn[4];//as a quaternion
if (PyArg_ParseTuple(args, "iOO", &bodyIndex, &posObj, &ornObj))
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
{
PyObject* seq;
int len,i;
@ -865,9 +865,9 @@ pybullet_resetBasePositionAndOrientation(PyObject* self, PyObject* args)
}
Py_DECREF(seq);
}
commandHandle = b3CreatePoseCommandInit(sm, bodyIndex);
b3CreatePoseCommandSetBasePosition( commandHandle, pos[0],pos[1],pos[2]);
b3CreatePoseCommandSetBaseOrientation( commandHandle, orn[0],orn[1],orn[2],orn[3]);
@ -875,7 +875,7 @@ pybullet_resetBasePositionAndOrientation(PyObject* self, PyObject* args)
Py_INCREF(Py_None);
return Py_None;
}
}
PyErr_SetString(SpamError, "error in resetJointState.");
return NULL;
@ -892,21 +892,21 @@ pybullet_resetBasePositionAndOrientation(PyObject* self, PyObject* args)
// index, name, type, q-index, u-index,
// flags, joint damping, joint friction
//
// The format of the returned list is
// The format of the returned list is
// [int, str, int, int, int, int, float, float]
//
// TODO(hellojas): get joint positions for a body
static PyObject*
pybullet_getJointInfo(PyObject* self, PyObject* args)
{
PyObject *pyListJointInfo;
PyObject *pyListJointInfo;
struct b3JointInfo info;
int bodyIndex = -1;
int jointIndex = -1;
int jointInfoSize = 8; //size of struct b3JointInfo
int size= PySequence_Size(args);
if (0==sm)
@ -921,7 +921,7 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
{
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex))
{
// printf("body index = %d, joint index =%d\n", bodyIndex, jointIndex);
pyListJointInfo = PyTuple_New(jointInfoSize);
@ -931,8 +931,8 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
// printf("Joint%d %s, type %d, at q-index %d and u-index %d\n",
// info.m_jointIndex,
// info.m_jointName,
// info.m_jointType,
// info.m_jointName,
// info.m_jointType,
// info.m_qIndex,
// info.m_uIndex);
// printf(" flags=%d jointDamping=%f jointFriction=%f\n",
@ -964,7 +964,7 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
}
}
}
Py_INCREF(Py_None);
return Py_None;
}
@ -980,26 +980,26 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
// 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 accuracy of position and velocity
// TODO(hellojas): check force torque values
static PyObject*
pybullet_getJointState(PyObject* self, PyObject* args)
{
PyObject *pyListJointForceTorque;
PyObject *pyListJointState;
PyObject *item;
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 (0==sm)
@ -1017,7 +1017,7 @@ pybullet_getJointState(PyObject* self, PyObject* args)
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle);
if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
@ -1028,25 +1028,25 @@ pybullet_getJointState(PyObject* self, PyObject* args)
pyListJointState = PyTuple_New(sensorStateSize);
pyListJointForceTorque = PyTuple_New(forceTorqueSize);
b3GetJointState(sm, status_handle, jointIndex, &sensorState);
PyTuple_SetItem(pyListJointState, 0,
PyTuple_SetItem(pyListJointState, 0,
PyFloat_FromDouble(sensorState.m_jointPosition));
PyTuple_SetItem(pyListJointState, 1,
PyTuple_SetItem(pyListJointState, 1,
PyFloat_FromDouble(sensorState.m_jointVelocity));
for (j = 0; j < forceTorqueSize; j++) {
PyTuple_SetItem(pyListJointForceTorque, j,
PyFloat_FromDouble(sensorState.m_jointForceTorque[j]));
}
PyTuple_SetItem(pyListJointState, 2,
PyTuple_SetItem(pyListJointState, 2,
pyListJointForceTorque);
PyTuple_SetItem(pyListJointState, 3,
PyTuple_SetItem(pyListJointState, 3,
PyFloat_FromDouble(sensorState.m_jointMotorTorque));
return pyListJointState;
}
} else
@ -1054,7 +1054,7 @@ pybullet_getJointState(PyObject* self, PyObject* args)
PyErr_SetString(SpamError, "getJointState expects 2 arguments (objectUniqueId and joint index).");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
@ -1092,7 +1092,7 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16])
// a view and projection matrix in renderImage()
//
// // Args:
// matrix - float[16] which will be set by values from objMat
// vector - float[3] which will be set by values from objMat
static int pybullet_internalSetVector(PyObject* objMat, float vector[3])
{
int i, len;
@ -1256,7 +1256,7 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
int size= PySequence_Size(args);
float viewMatrix[16];
float projectionMatrix[16];
float cameraPos[3];
float targetPos[3];
float cameraUp[3];
@ -1267,7 +1267,7 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
// inialize cmd
b3SharedMemoryCommandHandle command;
if (0==sm)
{
@ -1353,16 +1353,16 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
{
int upAxisIndex=1;
float camDistance,yaw,pitch,roll;
//sometimes more arguments are better :-)
if (PyArg_ParseTuple(args, "iiOffffifff", &width, &height, &objTargetPos, &camDistance, &yaw, &pitch, &roll, &upAxisIndex, &nearVal, &farVal, &fov))
{
b3RequestCameraImageSetPixelResolution(command,width,height);
if (pybullet_internalSetVector(objTargetPos, targetPos))
{
//printf("width = %d, height = %d, targetPos = %f,%f,%f, distance = %f, yaw = %f, pitch = %f, upAxisIndex = %d, near=%f, far=%f, fov=%f\n",width,height,targetPos[0],targetPos[1],targetPos[2],camDistance,yaw,pitch,upAxisIndex,nearVal,farVal,fov);
b3RequestCameraImageSetViewMatrix2(command,targetPos,camDistance,yaw,pitch,roll,upAxisIndex);
aspect = width/height;
b3RequestCameraImageSetFOVProjectionMatrix(command, fov, aspect, nearVal, farVal);
@ -1374,10 +1374,10 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
{
PyErr_SetString(SpamError, "Error parsing arguments");
}
}
else
{
@ -1389,9 +1389,9 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
//b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType==CMD_CAMERA_IMAGE_COMPLETED)
@ -1401,7 +1401,7 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
PyObject *pylistRGB;
PyObject* pylistDep;
PyObject* pylistSeg;
int i, j, p;
b3GetCameraImageData(sm, &imageData);
@ -1433,8 +1433,8 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
item2 = PyLong_FromLong(imageData.m_segmentationMaskValues[depIndex]);
PyTuple_SetItem(pylistSeg, depIndex, item2);
}
for (p=0; p<bytesPerPixel; p++)
{
int pixelIndex = bytesPerPixel*(i+j*imageData.m_pixelWidth)+p;
@ -1458,7 +1458,7 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
@ -1469,11 +1469,11 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args)
double force[3];
double position[3]={0,0,0};
PyObject* forceObj, *posObj;
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int size= PySequence_Size(args);
if (size==5)
{
if(!PyArg_ParseTuple(args, "iiOOi", &objectUniqueId, &linkIndex, &forceObj, &posObj, &flags))
@ -1484,10 +1484,10 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args)
} else
{
PyErr_SetString(SpamError, "applyBaseForce needs 5 arguments: objectUniqueId, linkIndex (-1 for base/root link), force [x,y,z], position [x,y,z], flags");
return NULL;
}
{
PyObject* seq;
int len,i;
@ -1542,7 +1542,7 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args)
static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
@ -1552,10 +1552,10 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args)
int objectUniqueId, linkIndex, flags;
double torque[3];
PyObject* torqueObj;
if (PyArg_ParseTuple(args, "iiOi", &objectUniqueId, &linkIndex, &torqueObj, &flags))
{
PyObject* seq;
int len,i;
seq = PySequence_Fast(torqueObj, "expected a sequence");
@ -1573,7 +1573,7 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args)
return NULL;
}
Py_DECREF(seq);
if (linkIndex <-1)
{
PyErr_SetString(SpamError, "Invalid link index, has to be -1 or larger");
@ -1593,7 +1593,7 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args)
}
}
Py_INCREF(Py_None);
return Py_None;
}
@ -1601,9 +1601,9 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args)
static PyObject* pybullet_getQuaternionFromEuler(PyObject* self, PyObject* args)
{
double rpy[3];
PyObject* eulerObj;
if (PyArg_ParseTuple(args, "O", &eulerObj))
{
PyObject* seq;
@ -1628,7 +1628,7 @@ static PyObject* pybullet_getQuaternionFromEuler(PyObject* self, PyObject* args)
PyErr_SetString(SpamError, "Euler angles need a 3 coordinates [roll, pitch, yaw].");
return NULL;
}
{
double phi, the, psi;
double roll = rpy[0];
@ -1662,22 +1662,22 @@ static PyObject* pybullet_getQuaternionFromEuler(PyObject* self, PyObject* args)
}
Py_INCREF(Py_None);
return Py_None;
}
///quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo
///https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc
static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, PyObject* args)
{
double squ;
double sqx;
double sqy;
double sqz;
double quat[4];
PyObject* quatObj;
if (PyArg_ParseTuple(args, "O", &quatObj))
{
PyObject* seq;
@ -1727,7 +1727,7 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, PyObject* args)
return Py_None;
}
///Given an object id, joint positions, joint velocities and joint accelerations,
///Given an object id, joint positions, joint velocities and joint accelerations,
///compute the joint forces using Inverse Dynamics
static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* args)
{
@ -1797,7 +1797,7 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
jointForcesOutput);
{
{
int i;
pylist = PyTuple_New(dofCount);
for (i = 0; i<dofCount; i++)
@ -1846,7 +1846,7 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
static PyMethodDef SpamMethods[] = {
{"connect", pybullet_connectPhysicsServer, METH_VARARGS,
"Connect to an existing physics server (using shared memory by default)."},
@ -1864,16 +1864,16 @@ static PyMethodDef SpamMethods[] = {
{"setTimeStep", pybullet_setTimeStep, METH_VARARGS,
"Set the amount of time to proceed at each call to stepSimulation. (unit is seconds, typically range is 0.01 or 0.001)"},
{ "setRealTimeSimulation", pybullet_setRealTimeSimulation, METH_VARARGS,
"Enable or disable real time simulation (using the real time clock, RTC) in the physics server. Expects one integer argument, 0 or 1" },
{"loadURDF", pybullet_loadURDF, METH_VARARGS,
"Create a multibody by loading a URDF file."},
{"loadSDF", pybullet_loadSDF, METH_VARARGS,
"Load multibodies from an SDF file."},
{"getBasePositionAndOrientation", pybullet_getBasePositionAndOrientation, METH_VARARGS,
"Get the world position and orientation of the base of the object. (x,y,z) position vector and (x,y,z,w) quaternion orientation."},
@ -1888,21 +1888,21 @@ static PyMethodDef SpamMethods[] = {
{"getJointState", pybullet_getJointState, METH_VARARGS,
"Get the state (position, velocity etc) for a joint on a body."},
{"resetJointState", pybullet_resetJointState, METH_VARARGS,
"Reset the state (position, velocity etc) for a joint on a body instantaneously, not through physics simulation."},
{"setJointMotorControl", pybullet_setJointMotorControl, METH_VARARGS,
"Set a single joint motor control mode and desired target value. There is no immediate state change, stepSimulation will process the motors."},
{"applyExternalForce", pybullet_applyExternalForce, METH_VARARGS,
"for objectUniqueId, linkIndex (-1 for base/root link), apply a force [x,y,z] at the a position [x,y,z], flag to select FORCE_IN_LINK_FRAME or FORCE_IN_WORLD_FRAME coordinates"},
{"applyExternalTorque", pybullet_applyExternalTorque, METH_VARARGS,
"for objectUniqueId, linkIndex (-1 for base/root link) apply a torque [x,y,z] in Cartesian coordinates, flag to select TORQUE_IN_LINK_FRAME or TORQUE_IN_WORLD_FRAME coordinates"},
{"renderImage", pybullet_renderImage, METH_VARARGS,
"Render an image (given the pixel resolution width, height, camera view matrix, projection matrix, near, and far values), and return the 8-8-8bit RGB pixel data and floating point depth values"},
"Render an image (given the pixel resolution width, height, camera view matrix, projection matrix, near, and far values), and return the 8-8-8bit RGB pixel data and floating point depth values"},
{"getContactPointData", pybullet_getContactPointData, METH_VARARGS,
"Return the contact point information for all or some of pairwise object-object collisions. Optional arguments one or two object unique ids, that need to be involved in the contact."},
@ -1910,23 +1910,23 @@ static PyMethodDef SpamMethods[] = {
{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS,
"Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to quaternion [x,y,z,w]"},
{"getEulerFromQuaternion", pybullet_getEulerFromQuaternion, METH_VARARGS,
"Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF convention"},
{ "calculateInverseDynamics", pybullet_calculateInverseDynamics, METH_VARARGS,
"Given an object id, joint positions, joint velocities and joint accelerations, compute the joint forces using Inverse Dynamics" },
//todo(erwincoumans)
//saveSnapshot
//loadSnapshot
////todo(erwincoumans)
//collision info
//raycast info
//applyBaseForce
//applyLinkForce
{NULL, NULL, 0, NULL} /* Sentinel */
};
@ -1968,19 +1968,19 @@ initpybullet(void)
if (m == NULL)
return;
#endif
PyModule_AddIntConstant (m, "SHARED_MEMORY", eCONNECT_SHARED_MEMORY); // user read
PyModule_AddIntConstant (m, "DIRECT", eCONNECT_DIRECT); // user read
PyModule_AddIntConstant (m, "GUI", eCONNECT_GUI); // user read
PyModule_AddIntConstant (m, "DIRECT", eCONNECT_DIRECT); // user read
PyModule_AddIntConstant (m, "GUI", eCONNECT_GUI); // user read
PyModule_AddIntConstant (m, "TORQUE_CONTROL", CONTROL_MODE_TORQUE);
PyModule_AddIntConstant (m, "VELOCITY_CONTROL", CONTROL_MODE_VELOCITY); // user read
PyModule_AddIntConstant (m, "POSITION_CONTROL", CONTROL_MODE_POSITION_VELOCITY_PD); // user read
PyModule_AddIntConstant (m, "LINK_FRAME", EF_LINK_FRAME);
PyModule_AddIntConstant (m, "WORLD_FRAME", EF_WORLD_FRAME);
SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
Py_INCREF(SpamError);
PyModule_AddObject(m, "error", SpamError);