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

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This commit is contained in:
Erwin Coumans
2017-10-23 12:25:34 -07:00
parent ca7d599838 d18bfec1a9
commit 1998a62785
12 changed files with 156 additions and 22 deletions
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2
examples/pybullet/gym/pybullet_envs/agents/configs.py
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@@ -36,7 +36,7 @@ def default():
eval_episodes = 25
use_gpu = False
# Network
network = networks.ForwardGaussianPolicy
network = networks.feed_forward_gaussian
weight_summaries = dict(
all=r'.*',
policy=r'.*/policy/.*',

2
examples/pybullet/gym/pybullet_envs/agents/train_ppo.py
View File

@@ -101,8 +101,6 @@ def train(config, env_processes):
"""
tf.reset_default_graph()
with config.unlocked:
config.network = functools.partial(
utility.define_network, config.network, config)
config.policy_optimizer = getattr(tf.train, config.policy_optimizer)
config.value_optimizer = getattr(tf.train, config.value_optimizer)
if config.update_every % config.num_agents:

2
examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py
View File

@@ -98,8 +98,6 @@ def visualize(
"""
config = utility.load_config(logdir)
with config.unlocked:
config.network = functools.partial(
utility.define_network, config.network, config)
config.policy_optimizer = getattr(tf.train, config.policy_optimizer)
config.value_optimizer = getattr(tf.train, config.value_optimizer)
with tf.device('/cpu:0'):

56
examples/pybullet/pybullet.c
View File

@@ -2470,7 +2470,7 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"constraintUniqueId", "physicsClientId", NULL};
static char* kwlist[] = { "constraintUniqueId", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &constraintUniqueId, &physicsClientId))
{
return NULL;
@@ -2539,10 +2539,61 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
}
}
PyErr_SetString(SpamError, "Couldn't get user constraint info");
return NULL;
}
static PyObject* pybullet_getConstraintState(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int constraintUniqueId = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = { "constraintUniqueId", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &constraintUniqueId, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(sm))
{
struct b3UserConstraintState constraintState;
cmd_handle = b3InitGetUserConstraintStateCommand(sm, constraintUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
statusType = b3GetStatusType(statusHandle);
if (b3GetStatusUserConstraintState(statusHandle, &constraintState))
{
if (constraintState.m_numDofs)
{
PyObject* appliedConstraintForces = PyTuple_New(constraintState.m_numDofs);
int i = 0;
for (i = 0; i < constraintState.m_numDofs; i++)
{
PyTuple_SetItem(appliedConstraintForces, i, PyFloat_FromDouble(constraintState.m_appliedConstraintForces[i]));
}
return appliedConstraintForces;
}
}
}
}
}
PyErr_SetString(SpamError, "Couldn't getConstraintState.");
return NULL;
}
static PyObject* pybullet_getConstraintUniqueId(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
@@ -7699,6 +7750,9 @@ static PyMethodDef SpamMethods[] = {
{"getConstraintInfo", (PyCFunction)pybullet_getConstraintInfo, METH_VARARGS | METH_KEYWORDS,
"Get the user-created constraint info, given a constraint unique id."},
{ "getConstraintState", (PyCFunction)pybullet_getConstraintState, METH_VARARGS | METH_KEYWORDS,
"Get the user-created constraint state (applied forces), given a constraint unique id." },
{"getConstraintUniqueId", (PyCFunction)pybullet_getConstraintUniqueId, METH_VARARGS | METH_KEYWORDS,
"Get the unique id of the constraint, given a integer index in range [0.. number of constraints)."},