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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2017-05-21 12:16:34 -07:00
parent 1ce894b3e9 148716d0ff
commit 19933a9454
13 changed files with 64 additions and 97 deletions
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13
examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
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@@ -588,6 +588,10 @@ public:
) :
btDiscreteDynamicsWorldMt( dispatcher, pairCache, constraintSolver, collisionConfiguration )
{
#if USE_PARALLEL_ISLAND_SOLVER
btSimulationIslandManagerMt* islandMgr = static_cast<btSimulationIslandManagerMt*>( m_islandManager );
islandMgr->setIslandDispatchFunction( parallelIslandDispatch );
#endif //#if USE_PARALLEL_ISLAND_SOLVER
}
};
@@ -762,14 +766,7 @@ void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
#endif //#if USE_PARALLEL_ISLAND_SOLVER
btDiscreteDynamicsWorld* world = new MyDiscreteDynamicsWorld( m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration );
m_dynamicsWorld = world;
#if USE_PARALLEL_ISLAND_SOLVER
if ( btSimulationIslandManagerMt* islandMgr = dynamic_cast<btSimulationIslandManagerMt*>( world->getSimulationIslandManager() ) )
{
islandMgr->setIslandDispatchFunction( parallelIslandDispatch );
m_multithreadedWorld = true;
}
#endif //#if USE_PARALLEL_ISLAND_SOLVER
m_multithreadedWorld = true;
}
else
{

32
examples/SharedMemory/CMakeLists.txt
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@@ -62,7 +62,7 @@ SET(SharedMemory_SRCS
../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
../Importers/ImportMJCFDemo/BulletMJCFImporter.h
../Utils/b3ResourcePath.cpp
../Utils/b3Clock.cpp
../Utils/b3Clock.cpp
../Utils/RobotLoggingUtil.cpp
../Utils/RobotLoggingUtil.h
../Utils/ChromeTraceUtil.cpp
@@ -75,13 +75,13 @@ SET(SharedMemory_SRCS
../Importers/ImportSTLDemo/LoadMeshFromSTL.h
../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../Importers/ImportColladaDemo/ColladaGraphicsInstance.h
../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../ThirdPartyLibs/tinyxml/tinystr.cpp
../ThirdPartyLibs/tinyxml/tinyxml.cpp
../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../ThirdPartyLibs/stb_image/stb_image.cpp
../ThirdPartyLibs/stb_image/stb_image.cpp
../MultiThreading/b3ThreadSupportInterface.cpp
../MultiThreading/b3ThreadSupportInterface.h
)
@@ -95,6 +95,10 @@ LINK_LIBRARIES(
Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
)
IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
LINK_LIBRARIES(BulletSoftBody)
ENDIF()
IF (WIN32)
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
${SharedMemory_SRCS}
@@ -112,7 +116,7 @@ ELSE(WIN32)
../MultiThreading/b3PosixThreadSupport.h
main.cpp
)
ELSE(APPLE)
LINK_LIBRARIES( pthread ${DL} )
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
@@ -152,7 +156,7 @@ LINK_LIBRARIES(
IF (WIN32)
ADD_DEFINITIONS(-DGLEW_STATIC)
LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
${SharedMemory_SRCS}
../StandaloneMain/main_opengl_single_example.cpp
@@ -169,23 +173,23 @@ ELSE(WIN32)
FIND_LIBRARY(COCOA NAMES Cocoa)
MESSAGE(${COCOA})
LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
${SharedMemory_SRCS}
../StandaloneMain/main_opengl_single_example.cpp
../ExampleBrowser/OpenGLGuiHelper.cpp
../ExampleBrowser/GL_ShapeDrawer.cpp
../ExampleBrowser/CollisionShape2TriangleMesh.cpp
../ExampleBrowser/CollisionShape2TriangleMesh.cpp
../MultiThreading/b3PosixThreadSupport.cpp
../MultiThreading/b3PosixThreadSupport.h
)
ELSE(APPLE)
LINK_LIBRARIES( pthread ${DL} )
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
${SharedMemory_SRCS}
../StandaloneMain/main_opengl_single_example.cpp
@@ -215,7 +219,7 @@ INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/headers
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/samples/shared
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/samples/shared
)
@@ -233,7 +237,7 @@ LINK_LIBRARIES(
LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win64)
ELSE(CMAKE_CL_64)
LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win32)
ENDIF(CMAKE_CL_64)
ENDIF(CMAKE_CL_64)
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_VR
${SharedMemory_SRCS}
../StandaloneMain/hellovr_opengl_main.cpp
@@ -250,12 +254,12 @@ LINK_LIBRARIES(
../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
../ThirdPartyLibs/openvr/samples/shared/pathtools.h
../ThirdPartyLibs/openvr/samples/shared/strtools.cpp
../ThirdPartyLibs/openvr/samples/shared/strtools.h
../ThirdPartyLibs/openvr/samples/shared/strtools.h
../ThirdPartyLibs/openvr/samples/shared/Vectors.h
../MultiThreading/b3Win32ThreadSupport.cpp
../MultiThreading/b3Win32ThreadSupport.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
@@ -272,7 +276,7 @@ IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/win32/openvr_api.dll ${CMAKE_CURRENT_BINARY_DIR}/openvr_api.dll
)
ENDIF(CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET App_PhysicsServer_SharedMemory_VR
POST_BUILD

21
examples/pybullet/gym/agents/actor_net.py
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@@ -1,21 +0,0 @@
"""An actor network."""
import tensorflow as tf
import sonnet as snt
class ActorNetwork(snt.AbstractModule):
"""An actor network as a sonnet Module."""
def __init__(self, layer_sizes, action_size, name='target_actor'):
super(ActorNetwork, self).__init__(name=name)
self._layer_sizes = layer_sizes
self._action_size = action_size
def _build(self, inputs):
state = inputs
for output_size in self._layer_sizes:
state = snt.Linear(output_size)(state)
state = tf.nn.relu(state)
action = tf.tanh(
snt.Linear(self._action_size, name='action')(state))
return action

46
examples/pybullet/gym/agents/simpleAgent.py
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@@ -1,46 +0,0 @@
"""Loads a DDPG agent without too much external dependencies
"""
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
import os
import collections
import numpy as np
import tensorflow as tf
import sonnet as snt
from agents import actor_net
class SimpleAgent():
def __init__(
self,
session,
ckpt_path,
actor_layer_size,
observation_size=(31,),
action_size=8,
):
self._ckpt_path = ckpt_path
self._actor_layer_size = actor_layer_size
self._observation_size = observation_size
self._action_size = action_size
self._session = session
self._build()
def _build(self):
self._agent_net = actor_net.ActorNetwork(self._actor_layer_size, self._action_size)
self._obs = tf.placeholder(tf.float32, (31,))
with tf.name_scope('Act'):
batch_obs = snt.nest.pack_iterable_as(self._obs,
snt.nest.map(lambda x: tf.expand_dims(x, 0),
snt.nest.flatten_iterable(self._obs)))
self._action = self._agent_net(batch_obs)
saver = tf.train.Saver()
saver.restore(
sess=self._session,
save_path=self._ckpt_path)
def __call__(self, observation):
out_action = self._session.run(self._action, feed_dict={self._obs: observation})
return out_action[0]

36
examples/pybullet/gym/agents/simplerAgent.py Normal file
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@@ -0,0 +1,36 @@
"""Loads a DDPG agent without too much external dependencies
"""
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
import os
import collections
import numpy as np
import tensorflow as tf
import pdb
class SimplerAgent():
def __init__(
self,
session,
ckpt_path,
observation_dim=31
):
self._ckpt_path = ckpt_path
self._session = session
self._observation_dim = observation_dim
self._build()
def _build(self):
saver = tf.train.import_meta_graph(self._ckpt_path + '.meta')
saver.restore(
sess=self._session,
save_path=self._ckpt_path)
self._action = tf.get_collection('action_op')[0]
self._obs = tf.get_collection('observation_placeholder')[0]
def __call__(self, observation):
feed_dict={self._obs: observation}
out_action = self._session.run(self._action, feed_dict=feed_dict)
return out_action[0]

4
examples/pybullet/gym/data/agent/tf_graph_data/checkpoint
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@@ -1,2 +1,2 @@
model_checkpoint_path: "/cns/ij-d/home/jietan/persistent/minitaur/minitaur_vizier_3_153645653/Bullet/MinitaurSimEnv/28158/0003600000/agent/tf_graph_data/tf_graph_data.ckpt"
all_model_checkpoint_paths: "/cns/ij-d/home/jietan/persistent/minitaur/minitaur_vizier_3_153645653/Bullet/MinitaurSimEnv/28158/0003600000/agent/tf_graph_data/tf_graph_data.ckpt"
model_checkpoint_path: "tf_graph_data_converted.ckpt-0"
all_model_checkpoint_paths: "tf_graph_data_converted.ckpt-0"

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9
examples/pybullet/gym/minitaurGymEnvTest.py
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@@ -10,7 +10,7 @@ import numpy as np
import tensorflow as tf
from envs.bullet.minitaurGymEnv import MinitaurGymEnv
from agents import simpleAgent
from agents import simplerAgent
def testSinePolicy():
"""Tests sine policy
@@ -53,17 +53,14 @@ def testDDPGPolicy():
environment = MinitaurGymEnv(render=True)
sum_reward = 0
steps = 1000
ckpt_path = 'data/agent/tf_graph_data/tf_graph_data.ckpt'
ckpt_path = 'data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0'
observation_shape = (31,)
action_size = 8
actor_layer_sizes = (100, 181)
n_steps = 0
tf.reset_default_graph()
with tf.Session() as session:
agent = simpleAgent.SimpleAgent(session, ckpt_path,
actor_layer_sizes,
observation_size=observation_shape,
action_size=action_size)
agent = simplerAgent.SimplerAgent(session, ckpt_path)
state = environment.reset()
action = agent(state)
for _ in range(steps):