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implement pybullet.saveState command, for in-memory storage of state.

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bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010
This commit is contained in:
Erwin Coumans
2017-12-31 15:37:16 -08:00
parent 4c6df650d4
commit 35b44f8a85
8 changed files with 123 additions and 19 deletions
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22
examples/pybullet/examples/saveRestoreState.py
View File

@@ -8,6 +8,8 @@ p.connect(p.GUI, options="--width=1024 --height=768")
numObjects = 50
verbose = 0
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "saveRestoreTimings.log")
def setupWorld():
p.resetSimulation()
p.loadURDF("planeMesh.urdf")
@@ -15,7 +17,7 @@ def setupWorld():
for i in range (p.getNumJoints(kukaId)):
p.setJointMotorControl2(kukaId,i,p.POSITION_CONTROL,force=0)
for i in range (numObjects):
cube = p.loadURDF("cube_small.urdf",0,i*0.02,(i+1)*0.2)
cube = p.loadURDF("cube_small.urdf",[0,i*0.02,(i+1)*0.2])
#p.changeDynamics(cube,-1,mass=100)
p.stepSimulation()
p.setGravity(0,0,-10)
@@ -41,8 +43,14 @@ def compareFiles(file1,file2):
fromfile='saveFile.txt',
tofile='restoreFile.txt',
)
numDifferences = 0
for line in diff:
numDifferences = numDifferences+1
sys.stdout.write(line)
if (numDifferences>0):
print("Error:", numDifferences, " lines are different between files.")
else:
print("OK, files are identical")
setupWorld()
for i in range (numSteps):
@@ -67,7 +75,11 @@ file.close()
#################################
setupWorld()
#both restore from file or from in-memory state should work
p.restoreState(fileName="state.bullet")
stateId = p.saveState()
if verbose:
p.setInternalSimFlags(1)
p.stepSimulation()
@@ -84,7 +96,7 @@ file = open("restoreFile.txt","w")
dumpStateToFile(file)
file.close()
p.restoreState(fileName="state.bullet")
p.restoreState(stateId)
if verbose:
p.setInternalSimFlags(1)
p.stepSimulation()
@@ -113,6 +125,8 @@ compareFiles(file1,file2)
file1.close()
file2.close()
while (p.getConnectionInfo()["isConnected"]):
time.sleep(1)
p.stopStateLogging(logId)
#while (p.getConnectionInfo()["isConnected"]):
# time.sleep(1)

9
examples/pybullet/pybullet.c
View File

@@ -756,13 +756,8 @@ static PyObject* pybullet_saveState(PyObject* self, PyObject* args, PyObject* ke
return NULL;
}
{
stateId = b3GetStatusGetStateId(statusHandle);
PyObject* pylist = 0;
pylist = PyTuple_New(1);
PyTuple_SetItem(pylist, 0, PyInt_FromLong(stateId));
return pylist;
}
stateId = b3GetStatusGetStateId(statusHandle);
return PyInt_FromLong(stateId);
}
static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* keywds)