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