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Reduce calls to the physics engine

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This commit is contained in:
Michel Breyer 2021-06-02 11:28:26 +02:00
parent e04361dd8c
commit 0cdeaa34f3
2 changed files with 6 additions and 1 deletions
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2
bt_sim_node.py
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@ -105,7 +105,7 @@ class BtSimNode:
def handle_updates(self): def handle_updates(self):
if self.step_cnt % int(self.sim.rate / self.controller_update_rate) == 0: if self.step_cnt % int(self.sim.rate / self.controller_update_rate) == 0:
self.cartesian_pose_controller.update() self.cartesian_pose_controller.update()
self.gripper_interface.update(1.0 / 60.0) self.gripper_interface.update(1.0 / self.controller_update_rate)
if self.step_cnt % int(self.sim.rate / self.joint_state_publish_rate) == 0: if self.step_cnt % int(self.sim.rate / self.joint_state_publish_rate) == 0:
self.publish_joint_state() self.publish_joint_state()
if self.step_cnt % int(self.sim.rate / self.camera_publish_rate) == 0: if self.step_cnt % int(self.sim.rate / self.camera_publish_rate) == 0:

5
simulation.py
View File

@ -10,6 +10,11 @@ from robot_tools.utils import scan_dir_for_urdfs
class Simulation(BtManipulationSim): class Simulation(BtManipulationSim):
def __init__(self, gui=True, sleep=True): def __init__(self, gui=True, sleep=True):
super().__init__(gui, sleep) super().__init__(gui, sleep)
self.rate = 60
self.dt = 1.0 / self.rate
p.setPhysicsEngineParameter(fixedTimeStep=self.dt, numSubSteps=4)
p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0) p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
p.resetDebugVisualizerCamera(1.4, 50, -35, [0.0, 0.0, 0.6]) p.resetDebugVisualizerCamera(1.4, 50, -35, [0.0, 0.0, 0.6])