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Log time stamp and step count.

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This commit is contained in:
yunfeibai
2017-03-04 13:19:43 -08:00
parent 995a686eaf
commit 6e3cd26f11
2 changed files with 10 additions and 6 deletions
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8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -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)