def consume(bullet_connect_mode, connection):
# runs in sep. process
client = bc.BulletClient(bullet_connect_mode)
while True:
method, args, kwargs = connection.recv()
result = getattr(client, method)(*args, **kwargs)
connection.send(result)
def bullet_client():
client = bc.BulletClient(pybullet.DIRECT)
client.setGravity(0, 0, -9.8)
path = Path(__file__).parent / "../smarts/core/models/plane.urdf"
with pkg_resources.path(models, "plane.urdf") as path:
plane_path = str(path.absolute())
plane_body_id = client.loadURDF(plane_path, useFixedBase=True)
yield client
client.disconnect()
def bullet_client(timestep_sec=time_step):
client = bc.BulletClient(pybullet.DIRECT)
client.resetSimulation()
client.setGravity(0, 0, -9.8)
client.setPhysicsEngineParameter(
fixedTimeStep=timestep_sec, numSubSteps=int(timestep_sec / (1 / 240)),
)
path = Path(__file__).parent / "../models/plane.urdf"
path = str(path.absolute())
plane_body_id = client.loadURDF(path, useFixedBase=True)
yield client
client.disconnect()
def consume(bullet_connect_mode, connection: Connection):
"""Builds a child pybullet process.
Args:
bullet_connect_mode: The type of bullet process.
connection: The child end of a pipe.
"""
# runs in sep. process
client = bc.BulletClient(bullet_connect_mode)
while True:
method, args, kwargs = connection.recv()
result = getattr(client, method)(*args, **kwargs)
connection.send(result)
def bullet_client():
client = bc.BulletClient(pybullet.DIRECT)
client.setGravity(0, 0, -9.8)
path = Path(__file__).parent / "../smarts/core/models/plane.urdf"
with pkg_resources.path(models, "plane.urdf") as path:
plane_path = str(path.absolute())
# create the ground plane to be big enough that the vehicles can potentially contact the ground too
client.loadURDF(
plane_path,
useFixedBase=True,
basePosition=(0, 0, 0),
globalScaling=1000.0 / 1e6,
)
yield client
client.disconnect()
sliders["rolling_friction"]),
contactStiffness=client.readUserDebugParameter(
sliders["contact_stiffness"]),
contactDamping=client.readUserDebugParameter(
sliders["contact_damping"]),
# anisotropicFriction=client.readUserDebugParameter(
# sliders["anisotropic_friction"]
# ),
)
if __name__ == "__main__":
# https://turtlemonvh.github.io/python-multiprocessing-and-corefoundation-libraries.html
# mp.set_start_method('spawn', force=True)
client = bc.BulletClient(pybullet.GUI)
# client = BulletClient(pybullet.GUI)
# client.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0)
client.configureDebugVisualizer(pybullet.COV_ENABLE_WIREFRAME, 1)
sliders = dict(
lateral_friction=client.addUserDebugParameter("Lateral Friction", 0,
10, 3),
spinning_friction=client.addUserDebugParameter("Spinning Friction", 0,
1, 0),
rolling_friction=client.addUserDebugParameter("Rolling Friction", 0, 1,
0),
contact_stiffness=client.addUserDebugParameter("Contact Stiffness", 0,
1e6, 100000),
contact_damping=client.addUserDebugParameter("Contact Damping", 0, 1e6,
35000),
def bullet_client():
client = bc.BulletClient(pybullet.DIRECT)
yield client
client.disconnect()
