我正在尝试通过按钮事件在 wxpython 中打开一个带有 GUI 的 Python 项目。Python 项目是一个物理模拟,它使用 pybullet。以下代码显示了一个最小示例,向您展示我的问题。第一个代码是 wxpython 应用程序的示例。我导入模拟项目并使用该sim.start()
函数通过按钮事件初始化 pybullet 模拟。
import wx
import Sim as sim #This is the physics simulation
class MainFrame(wx.Frame):
def __init__(self):
wx.Frame.__init__(self, None, wx.ID_ANY, "Digitaler Zwilling", size=(800, 600))
self.panel = Panel(self)
self.sizer = wx.BoxSizer(wx.VERTICAL)
self.sizer.Add(self.panel, 0, wx.EXPAND, 0)
self.SetSizer(self.sizer)
class Panel(wx.Panel):
def __init__(self, parent):
wx.Panel.__init__(self, parent = parent)
# ____Buttons_____#
start_btn = wx.Button(self, -1, label = "Start", pos = (635, 450), size = (95, 55))
start_btn.Bind(wx.EVT_BUTTON, self.start)
def start(self, event):
sim.start
if __name__ == '__main__':
app = wx.App(False)
frame = MainFrame()
frame.Show()
app.MainLoop()
作为pybullet项目,我从网上选择了一个例子:
import pybullet as p
import pybullet_data as pd
import time
def start():
p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
plane = p.loadURDF("plane.urdf")
p.setGravity(0, 0, -9.8)
p.setTimeStep(1./500)
# p.setDefaultContactERP(0)
# urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
urdfFlags = p.URDF_USE_SELF_COLLISION
quadruped = p.loadURDF("laikago/laikago_toes.urdf", [0, 0, .5], [0, 0.5, 0.5, 0],
flags = urdfFlags,
useFixedBase = False)
# enable collision between lower legs
for j in range(p.getNumJoints(quadruped)):
print(p.getJointInfo(quadruped, j))
# 2,5,8 and 11 are the lower legs
lower_legs = [2, 5, 8, 11]
for l0 in lower_legs:
for l1 in lower_legs:
if (l1 > l0):
enableCollision = 1
print("collision for pair", l0, l1,
p.getJointInfo(quadruped, l0) [12],
p.getJointInfo(quadruped, l1) [12], "enabled=", enableCollision)
p.setCollisionFilterPair(quadruped, quadruped, 2, 5, enableCollision)
jointIds = []
paramIds = []
jointOffsets = []
jointDirections = [-1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1]
jointAngles = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
for i in range(4):
jointOffsets.append(0)
jointOffsets.append(-0.7)
jointOffsets.append(0.7)
maxForceId = p.addUserDebugParameter("maxForce", 0, 100, 20)
for j in range(p.getNumJoints(quadruped)):
p.changeDynamics(quadruped, j, linearDamping = 0, angularDamping = 0)
info = p.getJointInfo(quadruped, j)
# print(info)
jointName = info [1]
jointType = info [2]
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
jointIds.append(j)
p.getCameraImage(480, 320)
p.setRealTimeSimulation(0)
joints = []
with open(pd.getDataPath() + "/laikago/data1.txt", "r") as filestream:
for line in filestream:
print("line=", line)
maxForce = p.readUserDebugParameter(maxForceId)
currentline = line.split(",")
# print (currentline)
# print("-----")
frame = currentline [0]
t = currentline [1]
# print("frame[",frame,"]")
joints = currentline [2:14]
# print("joints=",joints)
for j in range(12):
targetPos = float(joints [j])
p.setJointMotorControl2(quadruped,
jointIds [j],
p.POSITION_CONTROL,
jointDirections [j]*targetPos + jointOffsets [j],
force = maxForce)
p.stepSimulation()
for lower_leg in lower_legs:
# print("points for ", quadruped, " link: ", lower_leg)
pts = p.getContactPoints(quadruped, -1, lower_leg)
# print("num points=",len(pts))
# for pt in pts:
# print(pt[9])
time.sleep(1./500.)
index = 0
for j in range(p.getNumJoints(quadruped)):
p.changeDynamics(quadruped, j, linearDamping = 0, angularDamping = 0)
info = p.getJointInfo(quadruped, j)
js = p.getJointState(quadruped, j)
# print(info)
jointName = info [1]
jointType = info [2]
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4,
(js [0] - jointOffsets [index])/jointDirections [index]))
index = index + 1
p.setRealTimeSimulation(1)
while (1):
for i in range(len(paramIds)):
c = paramIds [i]
targetPos = p.readUserDebugParameter(c)
maxForce = p.readUserDebugParameter(maxForceId)
p.setJointMotorControl2(quadruped,
jointIds [i],
p.POSITION_CONTROL,
jointDirections [i]*targetPos + jointOffsets [i],
force = maxForce)
pybullet GUI 打开,模拟将开始,但随后卡住了(查看屏幕截图)
我认为问题可能是,我使用来自 wxpython 的按钮事件开始了 pybullet 模拟,该事件只能通过app.MainLoop()
. 但我其实不确定。
我试过了:
- 在开始模拟之前退出 Mainloop
- 使用新线程开始模拟,例如:
def start(self, event):
self.create_thread(sim.start)
def create_thread(self, target):
thread = threading.Thread(target=target)
thread.daemon = True
thread.start()
有谁知道如何使用 wxpython GUI 启动 pybullet 模拟,而不需要任何模拟?或者我可以告诉某人,我做错了什么?