mirror of
https://github.com/bulletphysics/bullet3
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138 lines
3.5 KiB
Python
138 lines
3.5 KiB
Python
import unittest
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import pybullet as p
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import math, time
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import difflib, sys
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from utils import allclose, dot
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class TestPybulletSaveRestoreMethods(unittest.TestCase):
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def setupWorld(self):
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numObjects = 50
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maximalCoordinates = False
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p.resetSimulation()
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p.setPhysicsEngineParameter(deterministicOverlappingPairs=1)
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p.loadURDF("planeMesh.urdf", useMaximalCoordinates=maximalCoordinates)
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kukaId = p.loadURDF("kuka_iiwa/model_free_base.urdf", [0, 0, 10],
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useMaximalCoordinates=maximalCoordinates)
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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(self, 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(self, 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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self.assertEqual(numDifferences, 0)
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def testSaveRestoreState(self):
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numSteps = 500
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numSteps2 = 30
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verbose = 0
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self.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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self.dumpStateToFile(file)
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file.close()
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#################################
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self.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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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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self.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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self.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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self.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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self.compareFiles(file1, file2)
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file1.close()
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file2.close()
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#while (p.getConnectionInfo()["isConnected"]):
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# time.sleep(1)
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if __name__ == '__main__':
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p.connect(p.DIRECT)
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unittest.main()
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