Extract physics

examples/tools/pybullet_linear_tire_example.py

@@ -4,14 +4,14 @@
 import matplotlib.pyplot as plt
 import numpy as np
 
-from smarts.core.chassis import AckermannChassis
+from smarts.bullet import pybullet
+from smarts.bullet.chassis import BulletAckermannChassis
+from smarts.bullet.pybullet import bullet_client as bc
 from smarts.core.controllers.actuator_dynamic_controller import (
     ActuatorDynamicController,
     ActuatorDynamicControllerState,
 )
 from smarts.core.coordinates import Heading, Pose
-from smarts.core.utils import pybullet
-from smarts.core.utils.pybullet import bullet_client as bc
 from smarts.core.vehicle import Vehicle
 
 TIMESTEP_SEC = 1 / 240
@@ -165,7 +165,7 @@ def run(client, vehicle, plane_body_id, sliders, n_steps=1e6):
 
         client.stepSimulation()
 
-        frictions_ = frictions(sliders)
+        frictions_ = frictions(client, sliders)
 
         if prev_friction_sum is not None and not math.isclose(
             sum(frictions_.values()), prev_friction_sum
@@ -188,7 +188,7 @@ def run(client, vehicle, plane_body_id, sliders, n_steps=1e6):
         )
 
 
-def frictions(sliders):
+def frictions(client, sliders):
     return dict(
         lateralFriction=client.readUserDebugParameter(sliders["lateral_friction"]),
         spinningFriction=client.readUserDebugParameter(sliders["spinning_friction"]),
@@ -201,7 +201,7 @@ def frictions(sliders):
     )
 
 
-if __name__ == "__main__":
+def main():
     # https://turtlemonvh.github.io/python-multiprocessing-and-corefoundation-libraries.html
     # mp.set_start_method('spawn', force=True)
 
@@ -242,12 +242,12 @@ def frictions(sliders):
             path = str(path.absolute())
             plane_body_id = client.loadURDF(path, useFixedBase=True)
 
-            client.changeDynamics(plane_body_id, -1, **frictions(sliders))
+            client.changeDynamics(plane_body_id, -1, **frictions(client, sliders))
 
             pose = pose = Pose.from_center((0, 0, 0), Heading(0))
             vehicle = Vehicle(
                 "hello",
-                chassis=AckermannChassis(
+                chassis=BulletAckermannChassis(
                     pose=pose,
                     bullet_client=client,
                     tire_parameters_filepath="../../smarts/core/models/tire_parameters.yaml",
@@ -311,3 +311,7 @@ def frictions(sliders):
         plt.plot(time, yaw)
 
         plt.show()
+
+
+if __name__ == "__main__":
+    main()

examples/tools/pybullet_sumo_orientation_example.py

@@ -4,13 +4,13 @@
 
 import numpy as np
 
+from smarts.bullet import pybullet
+from smarts.bullet.chassis import BulletBoxChassis
+from smarts.bullet.pybullet import bullet_client as bc
 from smarts.core.actor import ActorRole
-from smarts.core.chassis import BoxChassis
 from smarts.core.coordinates import Heading, Pose
 from smarts.core.scenario import Scenario
 from smarts.core.sumo_traffic_simulation import SumoTrafficSimulation
-from smarts.core.utils import pybullet
-from smarts.core.utils.pybullet import bullet_client as bc
 from smarts.core.vehicle import VEHICLE_CONFIGS, Vehicle
 from smarts.core.vehicle_state import VehicleState
 
@@ -96,7 +96,7 @@ def run(
         current_provider_state = traffic_sim.step(None, 0.01, step * 0.01)
         for pose, i in zip(injected_poses, range(len(injected_poses))):
             converted_to_provider = VehicleState(
-                vehicle_id=f"EGO{i}",
+                actor_id=f"EGO{i}",
                 vehicle_config_type="passenger",
                 pose=pose,
                 dimensions=passenger_dimen,
@@ -115,7 +115,7 @@ def run(
             pose = Pose.from_center([0, 0, 0], Heading(0))
             vehicles[v_id] = Vehicle(
                 id=v_id,
-                chassis=BoxChassis(
+                chassis=BulletBoxChassis(
                     pose=pose,
                     speed=0,
                     dimensions=vehicle_config.dimensions,
@@ -144,7 +144,7 @@ def run(
 # pytype: enable=name-error
 
 
-if __name__ == "__main__":
+def main():
     # https://turtlemonvh.github.io/python-multiprocessing-and-corefoundation-libraries.html
     # mp.set_start_method('spawn', force=True)
 
@@ -181,3 +181,7 @@ def run(
             plane_body_id,
             n_steps=int(1e6),
         )
+
+
+if __name__ == "__main__":
+    main()

examples/tools/pybullet_trajectory_example.py

@@ -3,14 +3,14 @@
 
 import matplotlib.pyplot as plt
 
-from smarts.core.chassis import AckermannChassis
+from smarts.bullet import pybullet
+from smarts.bullet.chassis import BulletAckermannChassis
+from smarts.bullet.pybullet import bullet_client as bc
 from smarts.core.controllers import (
     TrajectoryTrackingController,
     TrajectoryTrackingControllerState,
 )
 from smarts.core.coordinates import Heading, Pose
-from smarts.core.utils import pybullet
-from smarts.core.utils.pybullet import bullet_client as bc
 from smarts.core.vehicle import Vehicle
 
 TIMESTEP_SEC = 1 / 240
@@ -79,18 +79,12 @@ def run(client, vehicle, plane_body_id, sliders, n_steps=1e6):
             vehicle,
             controller_state,
             dt_sec=TIMESTEP_SEC,
-            heading_gain=0.05,
-            lateral_gain=0.65,
-            velocity_gain=1.8,
-            traction_gain=2,
-            derivative_activation=False,
-            speed_reduction_activation=False,
         )
 
         client.stepSimulation()
         vehicle.sync_chassis()
 
-        frictions_ = frictions(sliders)
+        frictions_ = frictions(client, sliders)
 
         if prev_friction_sum is not None and not math.isclose(
             sum(frictions_.values()), prev_friction_sum
@@ -112,7 +106,7 @@ def run(client, vehicle, plane_body_id, sliders, n_steps=1e6):
         ydes.append(trajectory[1][0])
 
 
-def frictions(sliders):
+def frictions(client, sliders):
     return dict(
         throttle=client.addUserDebugParameter("Throttle", 0, 1, 0.0),
         brake=client.addUserDebugParameter("Brake", 0, 1, 0),
@@ -128,7 +122,7 @@ def frictions(sliders):
     )
 
 
-if __name__ == "__main__":
+def main():
     # https://turtlemonvh.github.io/python-multiprocessing-and-corefoundation-libraries.html
     # mp.set_start_method('spawn', force=True)
 
@@ -166,12 +160,12 @@ def frictions(sliders):
             path = str(path.absolute())
             plane_body_id = client.loadURDF(path, useFixedBase=True)
 
-            client.changeDynamics(plane_body_id, -1, **frictions(sliders))
+            client.changeDynamics(plane_body_id, -1, **frictions(client, sliders))
             pose = pose = Pose.from_center((0, 0, 0), Heading(0))
 
             vehicle = Vehicle(
                 id="vehicle",
-                chassis=AckermannChassis(
+                chassis=BulletAckermannChassis(
                     pose=pose,
                     bullet_client=client,
                 ),
@@ -200,3 +194,7 @@ def frictions(sliders):
         plt.plot(xdes, ydes)
         plt.plot(xx, yy)
         plt.show()
+
+
+if __name__ == "__main__":
+    main()

examples/tools/pybullet_vehicle_example.py

@@ -1,14 +1,14 @@
 import math
 from pathlib import Path
 
-from smarts.core.chassis import AckermannChassis
+from smarts.bullet import pybullet
+from smarts.bullet.chassis import BulletAckermannChassis
+from smarts.bullet.pybullet import bullet_client as bc
 from smarts.core.controllers.actuator_dynamic_controller import (
     ActuatorDynamicController,
     ActuatorDynamicControllerState,
 )
 from smarts.core.coordinates import Heading, Pose
-from smarts.core.utils import pybullet
-from smarts.core.utils.pybullet import bullet_client as bc
 from smarts.core.vehicle import Vehicle
 
 TIMESTEP_SEC = 1 / 240
@@ -90,7 +90,7 @@ def frictions(sliders, client):
     )
 
 
-if __name__ == "__main__":
+def main():
     # https://turtlemonvh.github.io/python-multiprocessing-and-corefoundation-libraries.html
     # mp.set_start_method('spawn', force=True)
 
@@ -136,7 +136,7 @@ def frictions(sliders, client):
         pose = pose = Pose.from_center((0, 0, 0), Heading(0))
         vehicle = Vehicle(
             id="vehicle",
-            chassis=AckermannChassis(
+            chassis=BulletAckermannChassis(
                 pose=pose,
                 bullet_client=client,
             ),
@@ -149,3 +149,7 @@ def frictions(sliders, client):
             sliders,
             n_steps=int(1e6),
         )
+
+
+if __name__ == "__main__":
+    main()

smarts/bullet/__init__.py

@@ -0,0 +1,21 @@
+# MIT License
+#
+# Copyright (C) 2023. Huawei Technologies Co., Ltd. All rights reserved.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.

smarts/core/utils/bullet.py → smarts/bullet/bullet.py

@@ -23,9 +23,9 @@
 
 import numpy as np
 
+from smarts.bullet import pybullet
+from smarts.bullet.pybullet import bullet_client as bc
 from smarts.core.coordinates import Pose
-from smarts.core.utils import pybullet
-from smarts.core.utils.pybullet import bullet_client as bc
 
 
 class BulletClient: