Python ODEPhysics.auto_disable_bodies Examples

Example #1

#!/usr/bin/env python
from gazebo_msgs.msg import ODEPhysics
from geometry_msgs.msg import Vector3
from gazebo_msgs.srv import SetPhysicsProperties
from std_msgs.msg import Float64
import rospy

set_gravity = rospy.ServiceProxy('/gazebo/set_physics_properties',
                                 SetPhysicsProperties)

time_step = Float64(0.004)  # default: 0.001
max_update_rate = Float64(250.0)  # default: 1000.0
gravity = Vector3()
gravity.x = 0.0
gravity.y = 0.0
gravity.z = -9.8
ode_config = ODEPhysics()
ode_config.auto_disable_bodies = False
ode_config.sor_pgs_precon_iters = 0
ode_config.sor_pgs_iters = 50
ode_config.sor_pgs_w = 1.3
ode_config.sor_pgs_rms_error_tol = 0.0
ode_config.contact_surface_layer = 0.001
ode_config.contact_max_correcting_vel = 50.0  # default: 100.0
ode_config.cfm = 0.0
ode_config.erp = 0.2
ode_config.max_contacts = 20
print "Changing gazebo properties."
set_gravity(time_step.data, max_update_rate.data, gravity, ode_config)

Example #2

File: inverse_drop_estimator.py Project: cpaxton/two_arm_collaboration

        rospy.wait_for_service('/gazebo/set_physics_properties')

        rospy.loginfo("Additional sleep...")
        rospy.sleep(wait_time)

        rospy.loginfo("Setting physics properties...")
        srv = rospy.ServiceProxy("/gazebo/set_physics_properties", SetPhysicsProperties)

        time_step = 0.001
        max_update_rate = 1000.0
        gravity = Vector3()
        gravity.x = 0
        gravity.y = 0
        gravity.z = 9.8
        ode_config = ODEPhysics()
        ode_config.auto_disable_bodies = False
        ode_config.sor_pgs_precon_iters = 0
        ode_config.sor_pgs_w = 1.3
        ode_config.sor_pgs_rms_error_tol = 0.0
        ode_config.contact_surface_layer = 0.001
        ode_config.contact_max_correcting_vel = 100.0
        ode_config.cfm = 0.0
        ode_config.erp = 0.2
        ode_config.max_contacts = 20

        srv(time_step, max_update_rate, gravity, ode_config)

        all_points = []

        # spin and write out a file
        for i in range(0,frames_to_capture):

Example #3

File: gazebo_handler.py Project: saifullah3396/ros_gym

from std_srvs.srv import Empty
from gazebo_msgs.msg import ODEPhysics
from gazebo_msgs.srv import SetPhysicsProperties, SetPhysicsPropertiesRequest
from std_msgs.msg import Float64
from geometry_msgs.msg import Vector3
from simulation_handler import SimulationHandler

GAZEBO_SERVICES_MAP = {
    'reset': ['/gazebo/reset_world', Empty],
    'pause': ['/gazebo/pause_physics', Empty],
    'unpause': ['/gazebo/unpause_physics', Empty],
    'set_physics': ['/gazebo/set_physics_properties', SetPhysicsProperties]
}

ODE_PHYSICS_DEFAULT = ODEPhysics()
ODE_PHYSICS_DEFAULT.auto_disable_bodies = False
ODE_PHYSICS_DEFAULT.sor_pgs_precon_iters = 0
ODE_PHYSICS_DEFAULT.sor_pgs_iters = 50
ODE_PHYSICS_DEFAULT.sor_pgs_w = 1.3
ODE_PHYSICS_DEFAULT.sor_pgs_rms_error_tol = 0.0
ODE_PHYSICS_DEFAULT.contact_surface_layer = 0.001
ODE_PHYSICS_DEFAULT.contact_max_correcting_vel = 0.0
ODE_PHYSICS_DEFAULT.cfm = 0.0
ODE_PHYSICS_DEFAULT.erp = 0.2
ODE_PHYSICS_DEFAULT.max_contacts = 20


class GazeboHandler(SimulationHandler):
    """
    The simulation handler for performing pause, unpause, spawn, etc operations
    in gazebo.