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

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This commit is contained in:
Erwin Coumans
2017-09-11 21:49:58 -07:00
parent 3d3e391b6a ec25f663c2
commit 19057c2004
12 changed files with 70 additions and 27 deletions
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9
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -1204,10 +1204,13 @@ void OpenGLExampleBrowser::updateGraphics()
void OpenGLExampleBrowser::update(float deltaTime) void OpenGLExampleBrowser::update(float deltaTime)
{ {
if (!gEnableRenderLoop) b3ChromeUtilsEnableProfiling();
return;
b3ChromeUtilsEnableProfiling(); if (!gEnableRenderLoop)
{
sCurrentDemo->updateGraphics();
return;
}
B3_PROFILE("OpenGLExampleBrowser::update"); B3_PROFILE("OpenGLExampleBrowser::update");
assert(glGetError()==GL_NO_ERROR); assert(glGetError()==GL_NO_ERROR);

2
examples/SharedMemory/PosixSharedMemory.cpp
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@@ -91,7 +91,7 @@ void* PosixSharedMemory::allocateSharedMemory(int key, int size, bool allowCr
int id = shmget((key_t) key, (size_t) size,flags); int id = shmget((key_t) key, (size_t) size,flags);
if (id < 0) if (id < 0)
{ {
b3Error("shmget error"); b3Warning("shmget error");
} else } else
{ {
btPointerCaster result; btPointerCaster result;

3
examples/pybullet/examples/getAABB.py
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@@ -74,4 +74,5 @@ for i in range (p.getNumJoints(r2d2)):
while(1): while(1):
a=0 a=0
p.stepSimulation()

12
examples/pybullet/examples/humanoid_benchmark.py
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@@ -6,10 +6,10 @@ p.setPhysicsEngineParameter(numSolverIterations=5)
p.setPhysicsEngineParameter(fixedTimeStep=1./240.) p.setPhysicsEngineParameter(fixedTimeStep=1./240.)
p.setPhysicsEngineParameter(numSubSteps=1) p.setPhysicsEngineParameter(numSubSteps=1)
p.loadURDF("plane.urdf")
objects = p.loadMJCF("mjcf/humanoid_symmetric.xml") objects = p.loadMJCF("mjcf/humanoid_symmetric.xml")
ob = objects[0] 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]) 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 ] 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)): for jointIndex in range (p.getNumJoints(ob)):
@@ -24,9 +24,13 @@ p.setRealTimeSimulation(0)
#now do a benchmark #now do a benchmark
print("Starting 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): for i in range(1000):
p.stepSimulation() p.stepSimulation()
p.stopStateLogging(logId) p.stopStateLogging(logId)
print("ended benchmark") print("ended benchmark")
print("Use Chrome browser, visit about://tracing, and load the %s file" % fileName)

4
examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
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@@ -8,7 +8,9 @@ class BulletClient(object):
def __init__(self, connection_mode=pybullet.DIRECT): def __init__(self, connection_mode=pybullet.DIRECT):
"""Create a simulation and connect to it.""" """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 = {} self._shapes = {}
def __del__(self): def __del__(self):

4
examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py
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@@ -37,7 +37,9 @@ class KukaGymEnv(gym.Env):
self.terminated = 0 self.terminated = 0
self._p = p self._p = p
if self._renders: 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]) p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
else: else:
p.connect(p.DIRECT) p.connect(p.DIRECT)

3
examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
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@@ -166,6 +166,9 @@ class MinitaurBulletEnv(gym.Env):
def set_env_randomizer(self, env_randomizer): def set_env_randomizer(self, env_randomizer):
self._env_randomizer = env_randomizer self._env_randomizer = env_randomizer
def configure(self, args):
self._args = args
def _reset(self): def _reset(self):
if self._hard_reset: if self._hard_reset:
self._pybullet_client.resetSimulation() self._pybullet_client.resetSimulation()

23
examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py
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@@ -25,7 +25,7 @@ class RacecarZEDGymEnv(gym.Env):
urdfRoot=pybullet_data.getDataPath(), urdfRoot=pybullet_data.getDataPath(),
actionRepeat=10, actionRepeat=10,
isEnableSelfCollision=True, isEnableSelfCollision=True,
isDiscrete=True, isDiscrete=False,
renders=True): renders=True):
print("init") print("init")
self._timeStep = 0.01 self._timeStep = 0.01
@@ -52,7 +52,13 @@ class RacecarZEDGymEnv(gym.Env):
#print(observationDim) #print(observationDim)
observation_high = np.array([np.finfo(np.float32).max] * 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.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4))
self.viewer = None self.viewer = None
@@ -119,11 +125,14 @@ class RacecarZEDGymEnv(gym.Env):
basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId) basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
#self._p.resetDebugVisualizerCamera(1, 30, -40, basePos) #self._p.resetDebugVisualizerCamera(1, 30, -40, basePos)
fwd = [-1,-1,-1,0,0,0,1,1,1] if (self._isDiscrete):
steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6] fwd = [-1,-1,-1,0,0,0,1,1,1]
forward = fwd[action] steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6]
steer = steerings[action] forward = fwd[action]
realaction = [forward,steer] steer = steerings[action]
realaction = [forward,steer]
else:
realaction = action
self._racecar.applyAction(realaction) self._racecar.applyAction(realaction)
for i in range(self._actionRepeat): for i in range(self._actionRepeat):

12
examples/pybullet/gym/pybullet_envs/env_bases.py
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@@ -39,13 +39,13 @@ class MJCFBaseBulletEnv(gym.Env):
def _reset(self): def _reset(self):
if (self.physicsClientId<0): if (self.physicsClientId<0):
if (self.isRender): self.physicsClientId = -1 #p.connect(p.SHARED_MEMORY)
self.physicsClientId = p.connect(p.SHARED_MEMORY) if (self.physicsClientId<0):
if (self.physicsClientId<0): if (self.isRender):
self.physicsClientId = p.connect(p.GUI) self.physicsClientId = p.connect(p.GUI)
else: else:
self.physicsClientId = p.connect(p.DIRECT) self.physicsClientId = p.connect(p.DIRECT)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0) p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
if self.scene is None: if self.scene is None:
self.scene = self.create_single_player_scene() self.scene = self.create_single_player_scene()

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

18
examples/pybullet/gym/pybullet_envs/examples/runServer.py Normal file
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@@ -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()

3
setup.py
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@@ -440,7 +440,7 @@ print("-----")
setup( setup(
name = 'pybullet', name = 'pybullet',
version='1.3.6', version='1.3.8',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.', long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3', url='https://github.com/bulletphysics/bullet3',
@@ -467,6 +467,7 @@ setup(
'Programming Language :: Python :: 3.5', 'Programming Language :: Python :: 3.5',
'Programming Language :: Python :: 3.6', 'Programming Language :: Python :: 3.6',
'Topic :: Games/Entertainment :: Simulation', 'Topic :: Games/Entertainment :: Simulation',
'Topic :: Scientific/Engineering :: Artificial Intelligence',
'Framework :: Robot Framework'], 'Framework :: Robot Framework'],
package_dir = { '': 'examples/pybullet/gym'}, package_dir = { '': 'examples/pybullet/gym'},
packages=[x for x in find_packages('examples/pybullet/gym')], packages=[x for x in find_packages('examples/pybullet/gym')],