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prepare state logging system (log state of robot, vr controllers after each stepSimulation)

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This commit is contained in:
Erwin Coumans
2017-02-17 10:47:55 -08:00
parent 6db217b36a
commit 34c3fca8d5
18 changed files with 330 additions and 8 deletions
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3
examples/pybullet/CMakeLists.txt
View File

@@ -54,6 +54,9 @@ SET(pybullet_SRCS
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp

2
examples/pybullet/premake4.lua
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@@ -101,6 +101,8 @@ if not _OPTIONS["no-enet"] then
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",

65
examples/pybullet/pybullet.c
View File

@@ -2583,6 +2583,58 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args
return Py_None;
}
static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyObject *keywds)
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3PhysicsClientHandle sm = 0;
int loggingType = -1;
char* fileName = 0;
PyObject* objectUniqueIdsObj = 0;
static char *kwlist[] = { "loggingType", "fileName", "objectUniqueIds", "physicsClientId", NULL };
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oi", kwlist,
&loggingType, &fileName, &objectUniqueIdsObj,&physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
}
static PyObject* pybullet_stopStateLogging(PyObject* self, PyObject* args, PyObject *keywds)
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
PyObject* rayFromObj=0;
PyObject* rayToObj=0;
double from[3];
double to[3];
b3PhysicsClientHandle sm = 0;
static char *kwlist[] = { "loggingId", "physicsClientId", NULL };
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist,
&rayFromObj, &rayToObj,&physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
}
static PyObject* pybullet_rayTest(PyObject* self, PyObject* args, PyObject *keywds)
{
@@ -4960,8 +5012,14 @@ static PyMethodDef SpamMethods[] = {
"Set properties of the VR Camera such as its root transform "
"for teleporting or to track objects (camera inside a vehicle for example)."
},
{ "startRobotStateLogging", (PyCFunction)pybullet_startStateLogging, METH_VARARGS | METH_KEYWORDS,
"Start logging of state, such as robot base position, orientation, joint positions etc. "
"Specify loggingType (ROBOT_LOG_MINITAUR, ROBOT_LOG_GENERIC_ROBOT, ROBOT_LOG_VR_CONTROLLERS etc), "
"fileName, optional objectUniqueId. Function returns int loggingUniqueId"
},
{ "stopRobotStateLogging", (PyCFunction)pybullet_stopStateLogging, METH_VARARGS | METH_KEYWORDS,
"Stop logging of robot state, given a loggingUniqueId."
},
{ "rayTest", (PyCFunction)pybullet_rayTest, METH_VARARGS | METH_KEYWORDS,
"Cast a ray and return the first object hit, if any. "
"Takes two arguments (from position [x,y,z] and to position [x,y,z] in Cartesian world coordinates"
@@ -5047,6 +5105,9 @@ initpybullet(void)
PyModule_AddIntConstant(m, "VR_MAX_CONTROLLERS", MAX_VR_CONTROLLERS);
PyModule_AddIntConstant(m, "VR_MAX_BUTTONS", MAX_VR_BUTTONS);
PyModule_AddIntConstant(m, "ROBOT_LOGGING_MINITAUR", ROBOT_LOGGING_MINITAUR);
PyModule_AddIntConstant(m, "ROBOT_LOGGING_GENERIC_ROBOT", ROBOT_LOGGING_GENERIC_ROBOT);
PyModule_AddIntConstant(m, "ROBOT_LOGGING_VR_CONTROLLERS", ROBOT_LOGGING_VR_CONTROLLERS);
SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
Py_INCREF(SpamError);