138 lines
3.1 KiB
Python
138 lines
3.1 KiB
Python
import pybullet as p
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import math, time
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import difflib,sys
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numSteps = 500
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numSteps2 = 30
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p.connect(p.GUI, options="--width=1024 --height=768")
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numObjects = 50
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verbose = 0
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logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "saveRestoreTimings.log")
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def setupWorld():
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p.resetSimulation()
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p.setPhysicsEngineParameter(deterministicOverlappingPairs=1)
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p.loadURDF("planeMesh.urdf")
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kukaId = p.loadURDF("kuka_iiwa/model_free_base.urdf",[0,0,10])
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for i in range (p.getNumJoints(kukaId)):
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p.setJointMotorControl2(kukaId,i,p.POSITION_CONTROL,force=0)
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for i in range (numObjects):
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cube = p.loadURDF("cube_small.urdf",[0,i*0.02,(i+1)*0.2])
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#p.changeDynamics(cube,-1,mass=100)
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p.stepSimulation()
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p.setGravity(0,0,-10)
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def dumpStateToFile(file):
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for i in range (p.getNumBodies()):
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pos,orn = p.getBasePositionAndOrientation(i)
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linVel,angVel = p.getBaseVelocity(i)
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txtPos = "pos="+str(pos)+"\n"
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txtOrn = "orn="+str(orn)+"\n"
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txtLinVel = "linVel"+str(linVel)+"\n"
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txtAngVel = "angVel"+str(angVel)+"\n"
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file.write(txtPos)
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file.write(txtOrn)
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file.write(txtLinVel)
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file.write(txtAngVel)
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def compareFiles(file1,file2):
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diff = difflib.unified_diff(
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file1.readlines(),
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file2.readlines(),
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fromfile='saveFile.txt',
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tofile='restoreFile.txt',
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)
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numDifferences = 0
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for line in diff:
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numDifferences = numDifferences+1
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sys.stdout.write(line)
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if (numDifferences>0):
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print("Error:", numDifferences, " lines are different between files.")
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else:
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print("OK, files are identical")
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setupWorld()
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for i in range (numSteps):
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p.stepSimulation()
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p.saveBullet("state.bullet")
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if verbose:
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p.setInternalSimFlags(1)
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p.stepSimulation()
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if verbose:
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p.setInternalSimFlags(0)
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print("contact points=")
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for q in p.getContactPoints():
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print(q)
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for i in range (numSteps2):
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p.stepSimulation()
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file = open("saveFile.txt","w")
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dumpStateToFile(file)
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file.close()
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#################################
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setupWorld()
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#both restore from file or from in-memory state should work
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p.restoreState(fileName="state.bullet")
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stateId = p.saveState()
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print("stateId=",stateId)
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p.removeState(stateId)
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stateId = p.saveState()
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print("stateId=",stateId)
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if verbose:
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p.setInternalSimFlags(1)
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p.stepSimulation()
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if verbose:
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p.setInternalSimFlags(0)
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print("contact points restored=")
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for q in p.getContactPoints():
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print(q)
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for i in range (numSteps2):
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p.stepSimulation()
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file = open("restoreFile.txt","w")
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dumpStateToFile(file)
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file.close()
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p.restoreState(stateId)
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if verbose:
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p.setInternalSimFlags(1)
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p.stepSimulation()
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if verbose:
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p.setInternalSimFlags(0)
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print("contact points restored=")
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for q in p.getContactPoints():
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print(q)
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for i in range (numSteps2):
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p.stepSimulation()
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file = open("restoreFile2.txt","w")
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dumpStateToFile(file)
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file.close()
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file1 = open("saveFile.txt","r")
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file2 = open("restoreFile.txt","r")
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compareFiles(file1,file2)
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file1.close()
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file2.close()
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file1 = open("saveFile.txt","r")
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file2 = open("restoreFile2.txt","r")
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compareFiles(file1,file2)
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file1.close()
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file2.close()
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p.stopStateLogging(logId)
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#while (p.getConnectionInfo()["isConnected"]):
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# time.sleep(1)
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