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fix getAABB.py on mac osx

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fix humanoid_benchmark.py and explain how to read/interpret that file in Google Chrome
This commit is contained in:
Erwin Coumans
2017-09-11 19:46:54 -07:00
parent de6d370b38
commit ec25f663c2
2 changed files with 10 additions and 5 deletions
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1
examples/pybullet/examples/getAABB.py
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@@ -75,3 +75,4 @@ for i in range (p.getNumJoints(r2d2)):
while(1): while(1):
a=0 a=0
p.stepSimulation()

10
examples/pybullet/examples/humanoid_benchmark.py
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@@ -6,10 +6,10 @@ p.setPhysicsEngineParameter(numSolverIterations=5)
p.setPhysicsEngineParameter(fixedTimeStep=1./240.) p.setPhysicsEngineParameter(fixedTimeStep=1./240.)
p.setPhysicsEngineParameter(numSubSteps=1) p.setPhysicsEngineParameter(numSubSteps=1)
p.loadURDF("plane.urdf")
objects = p.loadMJCF("mjcf/humanoid_symmetric.xml") objects = p.loadMJCF("mjcf/humanoid_symmetric.xml")
ob = objects[0] ob = objects[0]
p.resetBasePositionAndOrientation(ob,[0.000000,0.000000,0.000000],[0.000000,0.000000,0.000000,1.000000])
ob = objects[1]
p.resetBasePositionAndOrientation(ob,[0.789351,0.962124,0.113124],[0.710965,0.218117,0.519402,-0.420923]) p.resetBasePositionAndOrientation(ob,[0.789351,0.962124,0.113124],[0.710965,0.218117,0.519402,-0.420923])
jointPositions=[ -0.200226, 0.123925, 0.000000, -0.224016, 0.000000, -0.022247, 0.099119, -0.041829, 0.000000, -0.344372, 0.000000, 0.000000, 0.090687, -0.578698, 0.044461, 0.000000, -0.185004, 0.000000, 0.000000, 0.039517, -0.131217, 0.000000, 0.083382, 0.000000, -0.165303, -0.140802, 0.000000, -0.007374, 0.000000 ] jointPositions=[ -0.200226, 0.123925, 0.000000, -0.224016, 0.000000, -0.022247, 0.099119, -0.041829, 0.000000, -0.344372, 0.000000, 0.000000, 0.090687, -0.578698, 0.044461, 0.000000, -0.185004, 0.000000, 0.000000, 0.039517, -0.131217, 0.000000, 0.083382, 0.000000, -0.165303, -0.140802, 0.000000, -0.007374, 0.000000 ]
for jointIndex in range (p.getNumJoints(ob)): for jointIndex in range (p.getNumJoints(ob)):
@@ -24,9 +24,13 @@ p.setRealTimeSimulation(0)
#now do a benchmark #now do a benchmark
print("Starting benchmark") print("Starting benchmark")
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json") fileName = "pybullet_humanoid_timings.json"
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,fileName)
for i in range(1000): for i in range(1000):
p.stepSimulation() p.stepSimulation()
p.stopStateLogging(logId) p.stopStateLogging(logId)
print("ended benchmark") print("ended benchmark")
print("Use Chrome browser, visit about://tracing, and load the %s file" % fileName)