Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #988 from YunfeiBai/master

Browse Source 
Log time stamp and set renderer in pybullet.
This commit is contained in:
erwincoumans
2017-03-04 15:27:00 -08:00
committed by GitHub
parent d13969854f e0c74a46ac
commit 2c081c767c
3 changed files with 18 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -578,6 +578,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
m_loggingType = STATE_LOGGING_GENERIC_ROBOT; m_loggingType = STATE_LOGGING_GENERIC_ROBOT;
btAlignedObjectArray<std::string> structNames; btAlignedObjectArray<std::string> structNames;
structNames.push_back("stepCount");
structNames.push_back("timeStamp"); structNames.push_back("timeStamp");
structNames.push_back("objectId"); structNames.push_back("objectId");
structNames.push_back("posX"); structNames.push_back("posX");
@@ -619,7 +620,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
structNames.push_back("u10"); structNames.push_back("u10");
structNames.push_back("u11"); structNames.push_back("u11");
m_structTypes = "fIfffffffffffffIffffffffffffffffffffffff"; m_structTypes = "IfIfffffffffffffIffffffffffffffffffffffff";
const char* fileNameC = fileName.c_str(); const char* fileNameC = fileName.c_str();
m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes); m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes);
@@ -647,7 +648,10 @@ struct GenericRobotStateLogger : public InternalStateLogger
} }
MinitaurLogRecord logData; MinitaurLogRecord logData;
logData.m_values.push_back(m_loggingTimeStamp); int stepCount = m_loggingTimeStamp;
float timeStamp = m_loggingTimeStamp*m_dynamicsWorld->getSolverInfo().m_timeStep;
logData.m_values.push_back(stepCount);
logData.m_values.push_back(timeStamp);
btVector3 pos = mb->getBasePos(); btVector3 pos = mb->getBasePos();
btQuaternion ori = mb->getWorldToBaseRot().inverse(); btQuaternion ori = mb->getWorldToBaseRot().inverse();

8
examples/pybullet/kuka_with_cube_playback.py
View File

@@ -67,14 +67,14 @@ print('item num:'),
print(itemNum) print(itemNum)
for record in log: for record in log:
Id = record[1] Id = record[2]
pos = [record[2],record[3],record[4]] pos = [record[3],record[4],record[5]]
orn = [record[5],record[6],record[7],record[8]] orn = [record[6],record[7],record[8],record[9]]
p.resetBasePositionAndOrientation(Id,pos,orn) p.resetBasePositionAndOrientation(Id,pos,orn)
numJoints = p.getNumJoints(Id) numJoints = p.getNumJoints(Id)
for i in range (numJoints): for i in range (numJoints):
jointInfo = p.getJointInfo(Id,i) jointInfo = p.getJointInfo(Id,i)
qIndex = jointInfo[3] qIndex = jointInfo[3]
if qIndex > -1: if qIndex > -1:
p.resetJointState(Id,i,record[qIndex-7+16]) p.resetJointState(Id,i,record[qIndex-7+17])
sleep(0.0005) sleep(0.0005)

13
examples/pybullet/pybullet.c
View File

@@ -3834,10 +3834,10 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
/// Render an image from the current timestep of the simulation, width, height are required, other args are optional /// Render an image from the current timestep of the simulation, width, height are required, other args are optional
// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow, lightAmbientCoeff, lightDiffuseCoeff, lightSpecularCoeff) // getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow, lightAmbientCoeff, lightDiffuseCoeff, lightSpecularCoeff, renderer)
static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds) static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds)
{ {
/// request an image from a simulated camera, using a software renderer. /// request an image from a simulated camera, using software or hardware renderer.
struct b3CameraImageData imageData; struct b3CameraImageData imageData;
PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0; PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
int width, height; int width, height;
@@ -3850,14 +3850,15 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
float lightAmbientCoeff = 0.6; float lightAmbientCoeff = 0.6;
float lightDiffuseCoeff = 0.35; float lightDiffuseCoeff = 0.35;
float lightSpecularCoeff = 0.05; float lightSpecularCoeff = 0.05;
int renderer = 0;
// inialize cmd // inialize cmd
b3SharedMemoryCommandHandle command; b3SharedMemoryCommandHandle command;
int physicsClientId = 0; int physicsClientId = 0;
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
// set camera resolution, optionally view, projection matrix, light direction, light color, light distance, shadow // set camera resolution, optionally view, projection matrix, light direction, light color, light distance, shadow
static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "physicsClientId", NULL }; static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "renderer", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffi", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff,&physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffii", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff, &renderer, &physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -3895,6 +3896,8 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff); b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff); b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
b3RequestCameraImageSelectRenderer(command, renderer);
if (b3CanSubmitCommand(sm)) if (b3CanSubmitCommand(sm))
{ {
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
@@ -5104,7 +5107,7 @@ static PyMethodDef SpamMethods[] = {
{ "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS, { "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS,
"Render an image (given the pixel resolution width, height, camera viewMatrix " "Render an image (given the pixel resolution width, height, camera viewMatrix "
", projectionMatrix, lightDirection, lightColor, lightDistance, shadow, lightAmbientCoeff, lightDiffuseCoeff, and lightSpecularCoeff), and return the " ", projectionMatrix, lightDirection, lightColor, lightDistance, shadow, lightAmbientCoeff, lightDiffuseCoeff, lightSpecularCoeff, and renderer), and return the "
"8-8-8bit RGB pixel data and floating point depth values" "8-8-8bit RGB pixel data and floating point depth values"
#ifdef PYBULLET_USE_NUMPY #ifdef PYBULLET_USE_NUMPY
" as NumPy arrays" " as NumPy arrays"