add python dumpLog.py utility to view log files created using 'startStateLogging'

don't enable <CTRL> for hotkeys yet
add some more profile markers
log objectId and linkIndex as signed int ('i') and not unsigned int 'I'
fix issue in startStateLogging: number of parameters was wrong

examples/pybullet/examples/dumpLog.py

@@ -0,0 +1,74 @@
+import time
+import math
+from datetime import datetime
+import struct
+import sys
+import os, fnmatch
+import argparse
+from time import sleep
+
+def readLogFile(filename, verbose = True):
+  f = open(filename, 'rb')
+
+  print('Opened'),
+  print(filename)
+
+  keys = f.readline().decode('utf8').rstrip('\n').split(',')
+  fmt = f.readline().decode('utf8').rstrip('\n')
+
+  # The byte number of one record
+  sz = struct.calcsize(fmt)
+  # The type number of one record
+  ncols = len(fmt)
+
+  if verbose:
+    print('Keys:'),
+    print(keys)
+    print('Format:'),
+    print(fmt)
+    print('Size:'),
+    print(sz)
+    print('Columns:'),
+    print(ncols)
+
+  # Read data
+  wholeFile = f.read()
+  # split by alignment word
+  chunks = wholeFile.split(b'\xaa\xbb')
+  log = list()
+  if verbose:
+  	print("num chunks:")
+  	print(len(chunks))
+  chunkIndex = 0
+  for chunk in chunks:
+    print("len(chunk)=",len(chunk)," sz = ", sz)
+    if len(chunk) == sz:
+      print("chunk #",chunkIndex)
+      chunkIndex=chunkIndex+1
+      values = struct.unpack(fmt, chunk)
+      record = list()
+      for i in range(ncols):
+        record.append(values[i])
+        if verbose:
+        	print("    ",keys[i],"=",values[i])
+
+      log.append(record)
+
+  return log
+
+
+numArgs = len(sys.argv)
+
+print ('Number of arguments:', numArgs, 'arguments.')
+print ('Argument List:', str(sys.argv))
+fileName = "log.bin"
+
+if (numArgs>1):
+	fileName = sys.argv[1]
+
+print("filename=")
+print(fileName)
+
+verbose = True
+	
+readLogFile(fileName,verbose)

examples/pybullet/examples/manyspheres.py

@@ -1,7 +1,13 @@
 import pybullet as p
 import time
 
-p.connect(p.GUI)
+conid = p.connect(p.SHARED_MEMORY)
+if (conid<0):
+	p.connect(p.GUI)
+	
+p.setInternalSimFlags(0)
+p.resetSimulation()
+	
 p.loadURDF("plane.urdf",useMaximalCoordinates=True)
 p.loadURDF("tray/traybox.urdf",useMaximalCoordinates=True)
 
@@ -12,7 +18,7 @@ p.setPhysicsEngineParameter(numSolverIterations=10)
 p.setPhysicsEngineParameter(contactBreakingThreshold=0.001)
 for i in range (10):
     for j in range (10):
-        for k in range (5):
+        for k in range (10):
             ob = p.loadURDF("sphere_1cm.urdf",[0.02*i,0.02*j,0.2+0.02*k],useMaximalCoordinates=True)
 p.setGravity(0,0,-10)
 p.setRealTimeSimulation(1)

examples/pybullet/examples/quadruped.py

@@ -143,7 +143,7 @@ p.setRealTimeSimulation(useRealTime)
 print("quadruped Id = ")
 print(quadruped)
 p.saveWorld("quadru.py")
-logId = p.startStateLogging(p.STATE_LOGGING_MINITAUR,"quadrupedLog.txt",[quadruped])
+logId = p.startStateLogging(p.STATE_LOGGING_MINITAUR,"quadrupedLog.bin",[quadruped])
 
 
 

examples/pybullet/examples/vr_kuka_setup.py

@@ -1,6 +1,9 @@
 import pybullet as p
 #p.connect(p.UDP,"192.168.86.100")
-p.connect(p.SHARED_MEMORY)
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
 p.resetSimulation()
 
 objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]

examples/pybullet/examples/vrtracker.py

@@ -19,6 +19,9 @@ if (c<0):
 p.setInternalSimFlags(0)#don't load default robot assets etc
 p.resetSimulation()
 p.loadURDF("plane.urdf")
+p.loadURDF("cube.urdf",0,0,1)
+p.setGravity(0,0,-10)
+p.setRealTimeSimulation(1)
 
 prevPosition=[None]*p.VR_MAX_CONTROLLERS
 colors=[0.,0.5,0.5]*p.VR_MAX_CONTROLLERS
@@ -32,6 +35,10 @@ colors[3] = [0,0,0.5]
 colors[4] = [0.5,0.5,0.]
 colors[5] = [.5,.5,.5]
 
+p.startStateLogging(p.STATE_LOGGING_VR_CONTROLLERS, "vr_hmd.bin",deviceTypeFilter=p.VR_DEVICE_HMD)
+p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "generic_data.bin")
+p.startStateLogging(p.STATE_LOGGING_CONTACT_POINTS, "contact_points.bin")
+
 while True:
 	events = p.getVREvents(p.VR_DEVICE_HMD+p.VR_DEVICE_GENERIC_TRACKER)
 	for e in (events):

examples/pybullet/pybullet.c

@@ -2697,8 +2697,8 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
 	static char* kwlist[] = {"loggingType", "fileName", "objectUniqueIds", "maxLogDof", "bodyUniqueIdA", "bodyUniqueIdB", "linkIndexA", "linkIndexB", "deviceTypeFilter", "physicsClientId", NULL};
 	int physicsClientId = 0;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oiiiiii", kwlist,
-									 &loggingType, &fileName, &objectUniqueIdsObj, &maxLogDof, &bodyUniqueIdA, &bodyUniqueIdB, &linkIndexA, &linkIndexB, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oiiiiiii", kwlist,
+									 &loggingType, &fileName, &objectUniqueIdsObj, &maxLogDof, &bodyUniqueIdA, &bodyUniqueIdB, &linkIndexA, &linkIndexB, &deviceTypeFilter, &physicsClientId))
 		return NULL;
 
 	sm = getPhysicsClient(physicsClientId);