Merge branch 'master' of https://github.com/erwincoumans/bullet3

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -1204,10 +1204,13 @@ void OpenGLExampleBrowser::updateGraphics()
 
 void OpenGLExampleBrowser::update(float deltaTime)
 {
-	if (!gEnableRenderLoop)
-		return;
+    b3ChromeUtilsEnableProfiling();
 
-	b3ChromeUtilsEnableProfiling();
+    if (!gEnableRenderLoop)
+    {
+        sCurrentDemo->updateGraphics();
+		return;
+    }
 	
 		B3_PROFILE("OpenGLExampleBrowser::update");
 		assert(glGetError()==GL_NO_ERROR);

examples/SharedMemory/PosixSharedMemory.cpp

@@ -91,7 +91,7 @@ void*   PosixSharedMemory::allocateSharedMemory(int key, int size,  bool allowCr
     int id = shmget((key_t) key, (size_t) size,flags);
     if (id < 0)
     {
-        b3Error("shmget error");
+        b3Warning("shmget error");
     } else
     {
         btPointerCaster result;

examples/pybullet/examples/getAABB.py

@@ -74,4 +74,5 @@ for i in range (p.getNumJoints(r2d2)):
 
 
 while(1):
-	a=0
+	a=0
+	p.stepSimulation()

examples/pybullet/examples/humanoid_benchmark.py

@@ -6,10 +6,10 @@ p.setPhysicsEngineParameter(numSolverIterations=5)
 p.setPhysicsEngineParameter(fixedTimeStep=1./240.)
 p.setPhysicsEngineParameter(numSubSteps=1)
 
+p.loadURDF("plane.urdf")
+
 objects = p.loadMJCF("mjcf/humanoid_symmetric.xml")
 ob = objects[0]
-p.resetBasePositionAndOrientation(ob,[0.000000,0.000000,0.000000],[0.000000,0.000000,0.000000,1.000000])
-ob = objects[1]
 p.resetBasePositionAndOrientation(ob,[0.789351,0.962124,0.113124],[0.710965,0.218117,0.519402,-0.420923])
 jointPositions=[ -0.200226, 0.123925, 0.000000, -0.224016, 0.000000, -0.022247, 0.099119, -0.041829, 0.000000, -0.344372, 0.000000, 0.000000, 0.090687, -0.578698, 0.044461, 0.000000, -0.185004, 0.000000, 0.000000, 0.039517, -0.131217, 0.000000, 0.083382, 0.000000, -0.165303, -0.140802, 0.000000, -0.007374, 0.000000 ]
 for jointIndex in range (p.getNumJoints(ob)):
@@ -24,9 +24,13 @@ p.setRealTimeSimulation(0)
 
 #now do a benchmark
 print("Starting benchmark")
-logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json")
+fileName = "pybullet_humanoid_timings.json"
+
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,fileName)
 for i in range(1000):
 	p.stepSimulation()
 p.stopStateLogging(logId)
 
-print("ended benchmark")
+print("ended benchmark")
+print("Use Chrome browser, visit about://tracing, and load the %s file" % fileName)
+

examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py

@@ -8,7 +8,9 @@ class BulletClient(object):
 
   def __init__(self, connection_mode=pybullet.DIRECT):
     """Create a simulation and connect to it."""
-    self._client = pybullet.connect(connection_mode)
+    self._client = -1 #pybullet.connect(pybullet.SHARED_MEMORY)
+    if(self._client<0):
+      self._client = pybullet.connect(connection_mode)
     self._shapes = {}
 
   def __del__(self):

examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py

@@ -37,7 +37,9 @@ class KukaGymEnv(gym.Env):
     self.terminated = 0
     self._p = p
     if self._renders:
-      p.connect(p.GUI)
+      cid = -1 #p.connect(p.SHARED_MEMORY)
+      if (cid<0):
+         cid = p.connect(p.GUI)
       p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
     else:
       p.connect(p.DIRECT)

examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py

@@ -166,6 +166,9 @@ class MinitaurBulletEnv(gym.Env):
   def set_env_randomizer(self, env_randomizer):
     self._env_randomizer = env_randomizer
 
+  def configure(self, args):
+    self._args = args
+
   def _reset(self):
     if self._hard_reset:
       self._pybullet_client.resetSimulation()

examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py

@@ -25,7 +25,7 @@ class RacecarZEDGymEnv(gym.Env):
                urdfRoot=pybullet_data.getDataPath(),
                actionRepeat=10,
                isEnableSelfCollision=True,
-               isDiscrete=True,
+               isDiscrete=False,
                renders=True):
     print("init")
     self._timeStep = 0.01
@@ -52,7 +52,13 @@ class RacecarZEDGymEnv(gym.Env):
     #print(observationDim)
     
     observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
-    self.action_space = spaces.Discrete(9)
+    if (isDiscrete):
+      self.action_space = spaces.Discrete(9)
+    else:
+       action_dim = 2
+       self._action_bound = 1
+       action_high = np.array([self._action_bound] * action_dim)
+       self.action_space = spaces.Box(-action_high, action_high)
     self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4))
 
     self.viewer = None
@@ -119,11 +125,14 @@ class RacecarZEDGymEnv(gym.Env):
       basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
       #self._p.resetDebugVisualizerCamera(1, 30, -40, basePos)
     
-    fwd = [-1,-1,-1,0,0,0,1,1,1]
-    steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6]
-    forward = fwd[action]
-    steer = steerings[action]
-    realaction = [forward,steer]
+    if (self._isDiscrete):
+            fwd = [-1,-1,-1,0,0,0,1,1,1]
+            steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6]
+            forward = fwd[action]
+            steer = steerings[action]
+            realaction = [forward,steer]
+    else:
+      realaction = action
 
     self._racecar.applyAction(realaction)
     for i in range(self._actionRepeat):

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -39,13 +39,13 @@ class MJCFBaseBulletEnv(gym.Env):
 
 	def _reset(self):
 		if (self.physicsClientId<0):
-			if (self.isRender):
-				self.physicsClientId = p.connect(p.SHARED_MEMORY)
-				if (self.physicsClientId<0):
+			self.physicsClientId = -1 #p.connect(p.SHARED_MEMORY)
+			if (self.physicsClientId<0):
+				if (self.isRender):
 					self.physicsClientId = p.connect(p.GUI)
-			else:
-				self.physicsClientId = p.connect(p.DIRECT)
-		#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+				else:
+					self.physicsClientId = p.connect(p.DIRECT)
+		p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
   
 		if self.scene is None:
 			self.scene = self.create_single_player_scene()

examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py

@@ -8,7 +8,7 @@ from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
 
 def main():
 	
-	environment = RacecarZEDGymEnv(renders=True)
+	environment = RacecarZEDGymEnv(renders=True, isDiscrete=True)
 	
 	targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
 	steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0)
@@ -37,4 +37,4 @@ def main():
 	  print(obs)
 
 if __name__=="__main__":
-    main()
+    main()

examples/pybullet/gym/pybullet_envs/examples/runServer.py

@@ -0,0 +1,18 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+import os
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
+
+import pybullet_data
+import pybullet as p
+import time
+
+p.connect(p.GUI_SERVER)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+while(1):
+	time.sleep(0.01)
+	p.getNumBodies()
+