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pybullet workaround for very slow Mac OSX GUI mode, since OpenGL can only run in main thread, just like the Python interpreter

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improve quadruped.py script, to allow 'useRealTime' 0 or 1
This commit is contained in:
Erwin Coumans
2017-02-07 08:08:55 -08:00
parent 88fdffba04
commit 56b4ac278b
2 changed files with 62 additions and 24 deletions
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11
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
View File

@@ -1,5 +1,6 @@
#include "SharedMemoryInProcessPhysicsC_API.h"
#include "../Utils/b3Clock.h"
#include "PhysicsClientSharedMemory.h"
#include"../ExampleBrowser/InProcessExampleBrowser.h"
@@ -8,6 +9,7 @@
class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory
{
btInProcessExampleBrowserMainThreadInternalData* m_data;
b3Clock m_clock;
public:
@@ -41,8 +43,15 @@ public:
{
PhysicsClientSharedMemory::disconnectSharedMemory();
}
unsigned long int ms = m_clock.getTimeMilliseconds();
if (ms>20)
{
m_clock.reset();
btUpdateInProcessExampleBrowserMainThread(m_data);
} else
{
//b3Clock::usleep(100);
}
return PhysicsClientSharedMemory::processServerStatus();

61
examples/pybullet/quadruped.py
View File

@@ -2,6 +2,8 @@ import pybullet as p
import time
import math
useRealTime = 0
fixedTimeStep = 0.001
physId = p.connect(p.SHARED_MEMORY)
if (physId<0):
@@ -9,8 +11,10 @@ if (physId<0):
p.loadURDF("plane.urdf")
p.setGravity(0,0,-1)
p.setTimeStep(fixedTimeStep)
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/quadruped.urdf",1,-2,2)
quadruped = p.loadURDF("quadruped/quadruped.urdf",1,-2,1)
#p.getNumJoints(1)
#right front leg
p.resetJointState(quadruped,0,1.57)
@@ -71,24 +75,41 @@ p.setJointMotorControl(quadruped,23,p.VELOCITY_CONTROL,0,0)
p_gain = 2
p_gain =1
speed = 10
amplitude = 1.3
#stand still
t_end = time.time() + 2
while time.time() < t_end:
p.setRealTimeSimulation(useRealTime)
t=0.0
ref_time = time.time()
t_end = t + 4
while t < t_end:
if (useRealTime==0):
t = t+fixedTimeStep
p.stepSimulation()
else:
t = time.time()-ref_time
p.setGravity(0,0,-1)
p.setGravity(0,0,-10)
jump_amp = 0.5
#jump
t_end = time.time() + 10
t = 0.0
t_end = t + 10
i=0
t=0
while time.time() < t_end:
t = time.time()
ref_time = time.time()
while t < t_end:
if (useRealTime):
t = time.time()-ref_time
else:
t = t+fixedTimeStep
p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain)
p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain)
p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain)
@@ -97,15 +118,19 @@ while time.time() < t_end:
p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain)
p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain)
p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain)
if (useRealTime==0):
p.stepSimulation()
#hop forward
t_end = time.time() + 30
t_end = 20
i=0
while time.time() < t_end:
t = time.time()
while t < t_end:
if (useRealTime):
t = time.time()-ref_time
else:
t = t+fixedTimeStep
p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*speed)*amplitude+1.57,p_gain)
p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-1.57,p_gain)
p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*speed)*amplitude+1.57,p_gain)
@@ -114,14 +139,18 @@ while time.time() < t_end:
p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-1.57,p_gain)
p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,math.sin(t*speed+3.14)*amplitude+1.57,p_gain)
p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,p_gain)
if (useRealTime==0):
p.stepSimulation()
#walk
t_end = time.time() + 120
t_end = 100
i=0
while time.time() < t_end:
t = time.time()
while t < t_end:
if (useRealTime):
t = time.time()-ref_time
else:
t = t+fixedTimeStep
p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*3)*.3+1.57,1)
p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-1.57,1)
p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*3+0.5*3.14)*.3+1.57,1)