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pybullet load/save .bullet files

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This commit is contained in:
erwin coumans 2016-11-11 14:44:50 -08:00
parent 9b5aa9a723
commit 35fc8306fd
2 changed files with 61 additions and 2 deletions
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3
examples/SharedMemory/SharedMemoryPublic.h
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@ -7,6 +7,9 @@ enum EnumSharedMemoryClientCommand
{
CMD_LOAD_SDF,
CMD_LOAD_URDF,
CMD_LOAD_BULLET,
CMD_SAVE_BULLET,
CMD_LOAD_MJCF,
CMD_LOAD_BUNNY,
CMD_SEND_BULLET_DATA_STREAM,
CMD_CREATE_BOX_COLLISION_SHAPE,

60
examples/pybullet/pybullet.c
View File

@ -197,12 +197,59 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args) {
PyErr_SetString(SpamError, "Cannot execute saveWorld command.");
return NULL;
}
static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args)
{
int size = PySequence_Size(args);
const char* bulletFileName = "";
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (size == 1) {
if (!PyArg_ParseTuple(args, "s", &bulletFileName)) return NULL;
}
return NULL;
}
static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args)
{
int size = PySequence_Size(args);
const char* bulletFileName = "";
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (size == 1) {
if (!PyArg_ParseTuple(args, "s", &bulletFileName)) return NULL;
}
return NULL;
}
// Load a URDF file indicating the links and joints of an object
static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args)
{
int size = PySequence_Size(args);
const char* mjcfjFileName = "";
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (size == 1) {
if (!PyArg_ParseTuple(args, "s", &mjcfjFileName)) return NULL;
}
return NULL;
}
// Load a robot from a URDF file (universal robot description format)
// function can be called without arguments and will default
// to position (0,0,1) with orientation(0,0,0,1)
// els(x,y,z) or
@ -2515,8 +2562,17 @@ static PyMethodDef SpamMethods[] = {
{"loadSDF", pybullet_loadSDF, METH_VARARGS,
"Load multibodies from an SDF file."},
{ "loadBullet", pybullet_loadBullet, METH_VARARGS,
"Restore the full state of the world from a .bullet file." },
{ "saveBullet", pybullet_saveBullet, METH_VARARGS,
"Save the full state of the world to a .bullet file." },
{ "loadMJCF", pybullet_loadMJCF, METH_VARARGS,
"Load multibodies from an MJCF file." },
{"saveWorld", pybullet_saveWorld, METH_VARARGS,
"Save an approximate Python file to reproduce the current state of the world: saveWorld"
"Save a approximate Python file to reproduce the current state of the world: saveWorld"
"(filename). (very preliminary and approximately)"},
{"getNumBodies", pybullet_getNumBodies, METH_VARARGS,