Merge branch 'master' into bullet-gym

2017-08-10 22:50:12 +02:00
parent 7572d505dc 0eb3898c76
commit 4771bae9fa
71 changed files with 1891 additions and 436 deletions
--- a/examples/pybullet/examples/changeTexture.py
+++ b/examples/pybullet/examples/changeTexture.py
@@ -0,0 +1,43 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+planeUidA = p.loadURDF("plane_transparent.urdf",[0,0,0])
+planeUid = p.loadURDF("plane_transparent.urdf",[0,0,-1])
+
+texUid = p.loadTexture("tex256.png")
+
+p.changeVisualShape(planeUidA,-1,rgbaColor=[1,1,1,0.5])
+p.changeVisualShape(planeUid,-1,rgbaColor=[1,1,1,0.5])
+p.changeVisualShape(planeUid,-1, textureUniqueId = texUid)
+
+width = 256
+height = 256
+pixels = [255]*width*height*3
+colorR = 0
+colorG = 0
+colorB = 0
+
+
+#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+
+blue=0
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "renderbench.json")
+for i in range (100000):
+	p.stepSimulation()
+	for i in range (width):
+		for j in range(height):
+			pixels[(i+j*width)*3+0]=i
+			pixels[(i+j*width)*3+1]=(j+blue)%256
+			pixels[(i+j*width)*3+2]=blue
+	blue=blue+1
+	p.changeTexture(texUid, pixels,width,height)
+	start = time.time()
+	p.getCameraImage(300,300,renderer=p.ER_BULLET_HARDWARE_OPENGL)
+	end = time.time()
+	print("rendering duraction")
+	print(end-start)
+p.stopStateLogging(logId)
+#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+#p.configureDebugVisualizer(p.COV_ENABLE_GUI,1)
+
--- a/examples/pybullet/examples/createMultiBodyLinks.py
+++ b/examples/pybullet/examples/createMultiBodyLinks.py
@@ -49,5 +49,8 @@ for i in range (p.getNumJoints(sphereUid)):
 	p.getJointInfo(sphereUid,i)
 	
 while (1):
+	keys = p.getKeyboardEvents()
+	print(keys)
+
 	time.sleep(0.01)
 	
--- a/examples/pybullet/examples/createObstacleCourse.py
+++ b/examples/pybullet/examples/createObstacleCourse.py
@@ -0,0 +1,93 @@
+import pybullet as p
+import time
+import math
+
+p.connect(p.GUI)
+#don't create a ground plane, to allow for gaps etc
+p.resetSimulation()
+#p.createCollisionShape(p.GEOM_PLANE)
+#p.createMultiBody(0,0)
+#p.resetDebugVisualizerCamera(5,75,-26,[0,0,1]);
+p.resetDebugVisualizerCamera(15,-346,-16,[-15,0,1]);
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+
+sphereRadius = 0.05
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
+stoneId = p.createCollisionShape(p.GEOM_MESH,fileName="stone.obj")
+
+boxHalfLength = 0.5
+boxHalfWidth = 2.5
+boxHalfHeight = 0.1
+segmentLength = 5
+
+colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[boxHalfLength,boxHalfWidth,boxHalfHeight])
+
+mass = 1
+visualShapeId = -1
+
+segmentStart = 0
+
+for i in range (segmentLength):
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
+	segmentStart=segmentStart-1
+	
+for i in range (segmentLength):
+	height = 0
+	if (i%2):
+		height=1
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1+height])
+	segmentStart=segmentStart-1
+
+baseOrientation = p.getQuaternionFromEuler([math.pi/2.,0,math.pi/2.])
+
+for i in range (segmentLength):
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
+	segmentStart=segmentStart-1
+	if (i%2):
+		p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,i%3,-0.1+height+boxHalfWidth],baseOrientation=baseOrientation)
+
+for i in range (segmentLength):
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
+	width=4
+	for j in range (width):
+		p.createMultiBody(baseMass=0,baseCollisionShapeIndex = stoneId,basePosition = [segmentStart,0.5*(i%2)+j-width/2.,0])
+	segmentStart=segmentStart-1
+
+
+link_Masses=[1]
+linkCollisionShapeIndices=[colBoxId]
+linkVisualShapeIndices=[-1]
+linkPositions=[[0,0,0]]
+linkOrientations=[[0,0,0,1]]
+linkInertialFramePositions=[[0,0,0]]
+linkInertialFrameOrientations=[[0,0,0,1]]
+indices=[0]
+jointTypes=[p.JOINT_REVOLUTE]
+axis=[[1,0,0]]
+
+baseOrientation = [0,0,0,1]
+for i in range (segmentLength):
+	boxId = p.createMultiBody(0,colSphereId,-1,[segmentStart,0,-0.1],baseOrientation,linkMasses=link_Masses,linkCollisionShapeIndices=linkCollisionShapeIndices,linkVisualShapeIndices=linkVisualShapeIndices,linkPositions=linkPositions,linkOrientations=linkOrientations,linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)			
+	p.changeDynamics(boxId,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
+	print(p.getNumJoints(boxId))
+	for joint in range (p.getNumJoints(boxId)):
+		targetVelocity = 1
+		if (i%2):
+			targetVelocity =-1
+		p.setJointMotorControl2(boxId,joint,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=10)
+	segmentStart=segmentStart-1.1
+
+
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+while (1):
+	camData = p.getDebugVisualizerCamera()
+	viewMat = camData[2]
+	projMat = camData[3]
+	p.getCameraImage(256,256,viewMatrix=viewMat, projectionMatrix=projMat, renderer=p.ER_BULLET_HARDWARE_OPENGL)
+	keys = p.getKeyboardEvents()
+	p.stepSimulation()	
+	#print(keys)
+	time.sleep(0.01)
+	
--- a/examples/pybullet/examples/createSphereMultiBodies.py
+++ b/examples/pybullet/examples/createSphereMultiBodies.py
@@ -4,7 +4,11 @@ import time
 useMaximalCoordinates = 0

 p.connect(p.GUI)
-p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
+#p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
+monastryId = concaveEnv =p.createCollisionShape(p.GEOM_MESH,fileName="samurai_monastry.obj",flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
+orn = p.getQuaternionFromEuler([1.5707963,0,0])
+p.createMultiBody (0,monastryId, baseOrientation=orn)
+
 sphereRadius = 0.05
 colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
 colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
@@ -28,5 +32,7 @@ p.setGravity(0,0,-10)
 p.setRealTimeSimulation(1)

 while (1):
+	keys = p.getKeyboardEvents()
+	#print(keys)
 	time.sleep(0.01)
 	
--- a/examples/pybullet/examples/loadingBench.py
+++ b/examples/pybullet/examples/loadingBench.py
@@ -0,0 +1,28 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+
+p.resetSimulation()
+timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "loadingBenchVR.json")
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+print("load plane.urdf")
+p.loadURDF("plane.urdf")
+print("load r2d2.urdf")
+
+p.loadURDF("r2d2.urdf",0,0,1)
+print("load kitchen/1.sdf")
+p.loadSDF("kitchens/1.sdf")
+print("load 100 times plate.urdf")
+for i in range (100):
+	p.loadURDF("dinnerware/plate.urdf",0,i,1)
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+
+p.stopStateLogging(timinglog)
+print("stopped state logging")
+p.getCameraImage(320,200)
+
+while (1):
+	p.stepSimulation()
+
+
--- a/examples/pybullet/examples/racecar_differential.py
+++ b/examples/pybullet/examples/racecar_differential.py
@@ -7,16 +7,15 @@ if (cid<0):
 	
 p.resetSimulation()
 p.setGravity(0,0,-10)
-p.setPhysicsEngineParameter(numSolverIterations=1000)
 useRealTimeSim = 1

 #for video recording (works best on Mac and Linux, not well on Windows)
 #p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
 p.setRealTimeSimulation(useRealTimeSim) # either this
-#p.loadURDF("plane.urdf")
-p.loadSDF("stadium.sdf")
+p.loadURDF("plane.urdf")
+#p.loadSDF("stadium.sdf")

-car = p.loadURDF("racecar/racecar_differential.urdf")#, [0,0,2],useFixedBase=True)
+car = p.loadURDF("racecar/racecar_differential.urdf") #, [0,0,2],useFixedBase=True)
 for i in range (p.getNumJoints(car)):
 	print (p.getJointInfo(car,i))
 for wheel in range(p.getNumJoints(car)):
@@ -27,7 +26,6 @@ wheels = [8,15]
 print("----------------")

 #p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
-
 c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
 p.changeConstraint(c,gearRatio=1, maxForce=10000)

@@ -40,12 +38,17 @@ p.changeConstraint(c,gearRatio=-1, maxForce=10000)
 c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
 p.changeConstraint(c,gearRatio=1, maxForce=10000)

-c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
-p.changeConstraint(c,gearRatio=-1, maxForce=10000)

 c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
 p.changeConstraint(c,gearRatio=-1, maxForce=10000)

+c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,1,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
+c = p.createConstraint(car,3,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)


 steering = [0,2]
--- a/examples/pybullet/examples/transparent.py
+++ b/examples/pybullet/examples/transparent.py
@@ -0,0 +1,18 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+p.loadURDF("plane.urdf")
+sphereUid = p.loadURDF("sphere_transparent.urdf",[0,0,2])
+
+redSlider = p.addUserDebugParameter("red",0,1,1)
+greenSlider = p.addUserDebugParameter("green",0,1,0)
+blueSlider = p.addUserDebugParameter("blue",0,1,0)
+alphaSlider = p.addUserDebugParameter("alpha",0,1,0.5)
+
+while (1):
+	red = p.readUserDebugParameter(redSlider)
+	green = p.readUserDebugParameter(greenSlider)
+	blue = p.readUserDebugParameter(blueSlider)
+	alpha = p.readUserDebugParameter(alphaSlider)
+	p.changeVisualShape(sphereUid,-1,rgbaColor=[red,green,blue,alpha])
+	time.sleep(0.01)
--- a/examples/pybullet/examples/vr_racecar_differential.py
+++ b/examples/pybullet/examples/vr_racecar_differential.py
@@ -0,0 +1,93 @@
+import pybullet as p
+import time
+CONTROLLER_ID = 0
+POSITION=1
+ORIENTATION=2
+BUTTONS=6
+
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
+	
+p.resetSimulation()
+p.setGravity(0,0,-10)
+useRealTimeSim = 1
+
+#for video recording (works best on Mac and Linux, not well on Windows)
+#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
+p.setRealTimeSimulation(useRealTimeSim) # either this
+p.loadURDF("plane.urdf")
+#p.loadSDF("stadium.sdf")
+
+car = p.loadURDF("racecar/racecar_differential.urdf") #, [0,0,2],useFixedBase=True)
+for i in range (p.getNumJoints(car)):
+	print (p.getJointInfo(car,i))
+for wheel in range(p.getNumJoints(car)):
+		p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
+		p.getJointInfo(car,wheel)	
+
+wheels = [8,15]
+print("----------------")
+
+#p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
+c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=1, maxForce=10000)
+
+c = p.createConstraint(car,10,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,9,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=1, maxForce=10000)
+
+
+c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,1,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
+c = p.createConstraint(car,3,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
+
+
+steering = [0,2]
+
+targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-50,50,0)
+maxForceSlider = p.addUserDebugParameter("maxForce",0,50,20)
+steeringSlider = p.addUserDebugParameter("steering",-1,1,0)
+activeController = -1
+
+while (True):
+			
+	
+	maxForce = p.readUserDebugParameter(maxForceSlider)
+	targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
+	steeringAngle = p.readUserDebugParameter(steeringSlider)
+	#print(targetVelocity)
+	events = p.getVREvents()
+	for e in events:
+		if (e[BUTTONS][33]&p.VR_BUTTON_WAS_TRIGGERED):
+			activeController = e[CONTROLLER_ID]
+		if (activeController == e[CONTROLLER_ID]):
+			orn = e[2]
+			eul = p.getEulerFromQuaternion(orn)
+			steeringAngle=eul[0]
+			
+			targetVelocity = 20.0*e[3]
+		
+	for wheel in wheels:
+		p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=maxForce)
+		
+	for steer in steering:
+		p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=-steeringAngle)
+		
+	steering
+	if (useRealTimeSim==0):
+		p.stepSimulation()
+	time.sleep(0.01)
--- a/examples/pybullet/examples/widows.py
+++ b/examples/pybullet/examples/widows.py
@@ -0,0 +1,21 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
+p.setGravity(0,0,-10)
+arm = p.loadURDF("widowx/widowx.urdf",useFixedBase=True)
+
+p.resetBasePositionAndOrientation(arm,[-0.098612,-0.000726,-0.194018],[0.000000,0.000000,0.000000,1.000000])
+  
+	
+while (1):
+	p.stepSimulation()
+	time.sleep(0.01)
+	#p.saveWorld("test.py")
+	viewMat = p.getDebugVisualizerCamera()[2]
+	#projMatrix = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
+	projMatrix = p.getDebugVisualizerCamera()[3]
+	width=640
+	height=480
+	img_arr = p.getCameraImage(width=width,height=height,viewMatrix=viewMat,projectionMatrix=projMatrix)
--- a/examples/pybullet/gym/envs/bullet/cartpole_bullet.py
+++ b/examples/pybullet/gym/envs/bullet/cartpole_bullet.py
@@ -22,10 +22,14 @@ class CartPoleBulletEnv(gym.Env):
    'video.frames_per_second' : 50
  }

-  def __init__(self):
+  def __init__(self, renders=True):
    # start the bullet physics server
-    p.connect(p.GUI)
-    #p.connect(p.DIRECT)
+    self._renders = renders
+    if (renders):
+	    p.connect(p.GUI)
+    else:
+    	p.connect(p.DIRECT)
+
    observation_high = np.array([
          np.finfo(np.float32).max,
          np.finfo(np.float32).max,
@@ -33,7 +37,7 @@ class CartPoleBulletEnv(gym.Env):
          np.finfo(np.float32).max])
    action_high = np.array([0.1])

-    self.action_space = spaces.Discrete(5)
+    self.action_space = spaces.Discrete(9)
    self.observation_space = spaces.Box(-observation_high, observation_high)

    self.theta_threshold_radians = 1
@@ -56,8 +60,8 @@ class CartPoleBulletEnv(gym.Env):
    self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
    theta, theta_dot, x, x_dot = self.state
    
-    dv = 0.4
-    deltav = [-2.*dv, -dv, 0, dv, 2.*dv][action]
+    dv = 0.1
+    deltav = [-10.*dv,-5.*dv, -2.*dv, -0.1*dv, 0, 0.1*dv, 2.*dv,5.*dv, 10.*dv][action]
    
    p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(deltav + self.state[3]))

--- a/examples/pybullet/gym/train_pybullet_cartpole.py
+++ b/examples/pybullet/gym/train_pybullet_cartpole.py
@@ -12,7 +12,7 @@ def callback(lcl, glb):

 def main():
 	
-    env = gym.make('CartPoleBulletEnv-v0')
+    env = CartPoleBulletEnv(renders=False)
    model = deepq.models.mlp([64])
    act = deepq.learn(
        env,
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1433,7 +1433,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
 			int i;
 			for (i = 0; i < numControlledDofs; i++)
 			{
-				int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
+				int jointIndex = pybullet_internalGetIntFromSequence(jointIndicesSeq, i);
 				if ((jointIndex >= numJoints) || (jointIndex < 0))
 				{
 					Py_DECREF(jointIndicesSeq);
@@ -4551,6 +4551,75 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
 	return Py_None;
 }

+
+static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	b3SharedMemoryCommandHandle commandHandle = 0;
+	b3SharedMemoryStatusHandle statusHandle=0;
+	int statusType = -1;
+	int textureUniqueId = -1;
+	int physicsClientId = 0;
+	int width=-1;
+	int height=-1;
+	
+	PyObject* pixelsObj = 0;
+
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = {"textureUniqueId", "pixels", "width", "height", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOii|i", kwlist, &textureUniqueId, &pixelsObj, &width, &height, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	if (textureUniqueId>=0 && width>=0 && height>=0 && pixelsObj)
+	{
+		PyObject* seqPixels = PySequence_Fast(pixelsObj, "expected a sequence");
+		PyObject* item;
+		int i;
+		int numPixels = width*height;
+		unsigned char* pixelBuffer = (unsigned char*) malloc (numPixels*3);
+		if (PyList_Check(seqPixels))
+		{
+			for (i=0;i<numPixels*3;i++)
+			{
+				item = PyList_GET_ITEM(seqPixels, i);
+				pixelBuffer[i] = PyLong_AsLong(item);
+			}
+		} else
+		{
+			for (i=0;i<numPixels*3;i++)
+			{
+				item = PyTuple_GET_ITEM(seqPixels, i);
+				pixelBuffer[i] = PyLong_AsLong(item);
+			}
+		}		
+
+		commandHandle = b3CreateChangeTextureCommandInit(sm,textureUniqueId, width,height,(const char*) pixelBuffer);
+		free(pixelBuffer);
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+		statusType = b3GetStatusType(statusHandle);
+		if (statusType == CMD_CLIENT_COMMAND_COMPLETED)
+		{
+			Py_INCREF(Py_None);
+			return Py_None;
+		} else
+		{
+			PyErr_SetString(SpamError, "Error processing changeTexture.");
+			return NULL;
+		}
+	}
+
+	PyErr_SetString(SpamError, "Error: invalid arguments in changeTexture.");
+	return NULL;
+}
+
+
 static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	const char* filename = 0;
@@ -4578,16 +4647,14 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject*
 		statusType = b3GetStatusType(statusHandle);
 		if (statusType == CMD_LOAD_TEXTURE_COMPLETED)
 		{
-		}
-		else
-		{
-			PyErr_SetString(SpamError, "Error loading texture");
-			return NULL;
+			PyObject* item;
+			item = PyInt_FromLong(b3GetStatusTextureUniqueId(statusHandle));
+			return item;
 		}
 	}

-	Py_INCREF(Py_None);
-	return Py_None;
+	PyErr_SetString(SpamError, "Error loading texture");
+	return NULL;
 }

 static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPointPtr)
@@ -4804,11 +4871,12 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py

 static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "physicsClientId", NULL};
+	static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "gearAuxLink", "physicsClientId", NULL};
 	int userConstraintUniqueId = -1;
 	b3SharedMemoryCommandHandle commandHandle;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
+	int gearAuxLink = -1;
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	PyObject* jointChildPivotObj = 0;
@@ -4817,7 +4885,7 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	double jointChildFrameOrn[4];
 	double maxForce = -1;
 	double gearRatio = 0;
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddi", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddii", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &gearAuxLink, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -4847,6 +4915,10 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	{
 		b3InitChangeUserConstraintSetGearRatio(commandHandle,gearRatio);
 	}
+	if (gearAuxLink>=0)
+	{
+		b3InitChangeUserConstraintSetGearAuxLink(commandHandle,gearAuxLink);
+	}
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	statusType = b3GetStatusType(statusHandle);
 	Py_INCREF(Py_None);
@@ -5008,7 +5080,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
 			pybullet_internalSetVectord(planeNormalObj,planeNormal);
 			shapeIndex = b3CreateCollisionShapeAddPlane(commandHandle, planeNormal, planeConstant);
 		}
-		if (shapeIndex && flags)
+		if (shapeIndex>=0 && flags)
 		{
 			b3CreateCollisionSetFlag(commandHandle,shapeIndex,flags);
 		}
@@ -5180,14 +5252,16 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 				double linkJointAxis[3];
 				double linkInertialFramePosition[3];
 				double linkInertialFrameOrientation[4];
-				
+				int linkParentIndex;
+				int linkJointType;
+
 				pybullet_internalGetVector3FromSequence(seqLinkInertialFramePositions,i,linkInertialFramePosition);
 				pybullet_internalGetVector4FromSequence(linkInertialFrameOrientationObj,i,linkInertialFrameOrientation);
 				pybullet_internalGetVector3FromSequence(seqLinkPositions,i,linkPosition);
 				pybullet_internalGetVector4FromSequence(seqLinkOrientations,i,linkOrientation);
 				pybullet_internalGetVector3FromSequence(seqLinkJoinAxis,i,linkJointAxis);
-				int linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices,i);
-				int linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes,i);
+				linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices,i);
+				linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes,i);

 				b3CreateMultiBodyLink(commandHandle, 
 									linkMass, 
@@ -7019,6 +7093,9 @@ static PyMethodDef SpamMethods[] = {
 	{"loadTexture", (PyCFunction)pybullet_loadTexture, METH_VARARGS | METH_KEYWORDS,
 	 "Load texture file."},

+	{"changeTexture", (PyCFunction)pybullet_changeTexture, METH_VARARGS | METH_KEYWORDS,
+	 "Change a texture file."},
+
 	{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS,
 	 "Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to "
 	 "quaternion [x,y,z,w]"},
@@ -7147,14 +7224,22 @@ PyMODINIT_FUNC
 #if PY_MAJOR_VERSION >= 3
 PyInit_pybullet(void)
 #else
+#ifdef BT_USE_EGL
+initpybullet_egl(void)
+#else
 initpybullet(void)
+#endif //BT_USE_EGL
 #endif
 {
 	PyObject* m;
 #if PY_MAJOR_VERSION >= 3
 	m = PyModule_Create(&moduledef);
+#else
+#ifdef BT_USE_EGL
+	m = Py_InitModule3("pybullet_egl", SpamMethods, "Python bindings for Bullet");
 #else
 	m = Py_InitModule3("pybullet", SpamMethods, "Python bindings for Bullet");
+#endif //BT_USE_EGL
 #endif

 #if PY_MAJOR_VERSION >= 3
@@ -7275,6 +7360,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "GEOM_PLANE", GEOM_PLANE);
 	PyModule_AddIntConstant(m, "GEOM_CAPSULE", GEOM_CAPSULE);

+	PyModule_AddIntConstant(m, "GEOM_FORCE_CONCAVE_TRIMESH", GEOM_FORCE_CONCAVE_TRIMESH);
+


 	SpamError = PyErr_NewException("pybullet.error", NULL, NULL);