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fix quadruped, allow user to pick the maximum number of dofs to log

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This commit is contained in:
erwincoumans
2017-03-04 15:30:57 -08:00
parent 44b140dd38
commit c7579d7b82
7 changed files with 39 additions and 7 deletions
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6
examples/pybullet/kuka_with_cube_playback.py
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@@ -16,8 +16,8 @@ def readLogFile(filename, verbose = True):
print('Opened'),
print(filename)
keys = f.readline().rstrip('\n').split(',')
fmt = f.readline().rstrip('\n')
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)
@@ -37,7 +37,7 @@ def readLogFile(filename, verbose = True):
# Read data
wholeFile = f.read()
# split by alignment word
chunks = wholeFile.split('\xaa\xbb')
chunks = wholeFile.split(b'\xaa\xbb')
log = list()
for chunk in chunks:
if len(chunk) == sz:

11
examples/pybullet/pybullet.c
View File

@@ -2625,12 +2625,13 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
int loggingType = -1;
char* fileName = 0;
PyObject* objectUniqueIdsObj = 0;
int maxLogDof=-1;
static char *kwlist[] = { "loggingType", "fileName", "objectUniqueIds", "physicsClientId", NULL };
static char *kwlist[] = { "loggingType", "fileName", "objectUniqueIds", "maxLogDof", "physicsClientId", NULL };
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oi", kwlist,
&loggingType, &fileName, &objectUniqueIdsObj,&physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oii", kwlist,
&loggingType, &fileName, &objectUniqueIdsObj,&maxLogDof, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -2661,6 +2662,10 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
}
}
if (maxLogDof>0)
{
b3StateLoggingSetMaxLogDof(commandHandle, maxLogDof);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);