Merge pull request #12 from wkentaro/mp4

Add mp4 option to connect
yijiangh · Oct 4, 2021 · cc90e86 · cc90e86
2 parents a4364cc + 4264dda
commit cc90e86
Showing 1 changed file with 6 additions and 4 deletions.
diff --git a/src/pybullet_planning/interfaces/env_manager/simulation.py b/src/pybullet_planning/interfaces/env_manager/simulation.py
@@ -71,7 +71,7 @@ def restore(self):
            set_renderer(enable=self.state)
 
 
-def connect(use_gui=True, shadows=True, color=None, width=None, height=None):
+def connect(use_gui=True, shadows=True, color=None, width=None, height=None, mp4=None):
     # Shared Memory: execute the physics simulation and rendering in a separate process
     # https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/vrminitaur.py#L7
     # make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
@@ -85,11 +85,13 @@ def connect(use_gui=True, shadows=True, color=None, width=None, height=None):
         # options="--mp4=\"test.mp4\" --mp4fps=240"
         options = ''
         if color is not None:
-            options += '--background_color_red={} --background_color_green={} --background_color_blue={}'.format(*color)
+            options += ' --background_color_red={} --background_color_green={} --background_color_blue={}'.format(*color)
         if width is not None:
-            options += '--width={}'.format(width)
+            options += ' --width={}'.format(width)
         if height is not None:
-            options += '--height={}'.format(height)
+            options += ' --height={}'.format(height)
+        if mp4 is not None:
+            options += ' --mp4={}'.format(mp4)
         sim_id = p.connect(method, options=options) # key=None,
         #sim_id = p.connect(p.GUI, options="--opengl2") if use_gui else p.connect(p.DIRECT)
     assert 0 <= sim_id