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add option to log joint torques (due to user applied torques and/or motor torques)

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See quadruped.py for an example:
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
Thanks to JulianYG, in pull request https://github.com/bulletphysics/bullet3/pull/1273
This commit is contained in:
erwincoumans
2017-08-30 19:41:15 -07:00
parent 8dfa76e924
commit ee30479a28
7 changed files with 105 additions and 19 deletions
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4
examples/pybullet/examples/quadruped.py
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@@ -19,7 +19,7 @@ if (physId<0):
#p.resetSimulation()
p.loadURDF("plane.urdf",0,0,0)
p.setPhysicsEngineParameter(numSolverIterations=50)
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
p.setTimeOut(4)
p.setGravity(0,0,0)
@@ -156,7 +156,7 @@ t_end = t + 100
i=0
ref_time = time.time()
while t < t_end:
for aa in range (100):
if (useRealTime):
t = time.time()-ref_time
else: