Merge pull request #1307 from erwincoumans/master

fixes in libdl/DL, add testMJCF.py script, second try

CMakeLists.txt

@@ -39,7 +39,7 @@ ENDIF (BULLET2_USE_THREAD_LOCKS)
 
 
 IF(NOT WIN32)
-	SET(DL dl)
+	SET(DL ${CMAKE_DL_LIBS})
 	IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
 		MESSAGE("Linux")
 		SET(OSDEF -D_LINUX)
@@ -50,7 +50,6 @@ IF(NOT WIN32)
 		ELSE(APPLE)
 			MESSAGE("BSD?")
 			SET(OSDEF -D_BSD)
-			SET(DL "")
 		ENDIF(APPLE)
 	ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
 ENDIF(NOT WIN32)

build_visual_studio_vr_pybullet_double_cmake.bat

@@ -1,4 +1,4 @@
 mkdir build_cmake
 cd build_cmake
 cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.3.amd64\include -DPYTHON_LIBRARY=c:\python-3.5.3.amd64\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.3.amd64\libs\python35_d.lib -G "Visual Studio 14 2015 Win64" ..
-start .
+start .

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

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

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -380,29 +380,59 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
 	else if (type_name == "cylinder")
 	{
 		geom.m_type = URDF_GEOM_CYLINDER;
-		if (!shape->Attribute("length") ||
-			!shape->Attribute("radius"))
-	  {
-		  logger->reportError("Cylinder shape must have both length and radius attributes");
-		  return false;
-	  }
 		geom.m_hasFromTo = false;
-		geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
+		geom.m_capsuleRadius = 0.1;
-		geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
+		geom.m_capsuleHeight = 0.1;
 		
+		if (m_parseSDF)
+		{
+			if (TiXmlElement* scale = shape->FirstChildElement("radius"))
+			{
+				parseVector3(geom.m_meshScale,scale->GetText(),logger);
+				geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());	
+			}
+			if (TiXmlElement* scale = shape->FirstChildElement("length"))
+			{
+				parseVector3(geom.m_meshScale,scale->GetText(),logger);
+				geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());	
+			}
+		} else
+		{
+			if (!shape->Attribute("length") ||!shape->Attribute("radius"))
+			{
+				logger->reportError("Cylinder shape must have both length and radius attributes");
+				return false;
+			}
+			geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
+			geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
+		}
 	}
 	else if (type_name == "capsule")
 	{
 		geom.m_type = URDF_GEOM_CAPSULE;
-		if (!shape->Attribute("length") ||
-			!shape->Attribute("radius"))
-		{
-			logger->reportError("Capsule shape must have both length and radius attributes");
-			return false;
-		}
 		geom.m_hasFromTo = false;
-		geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
+		if (m_parseSDF)
-		geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
+		{
+			if (TiXmlElement* scale = shape->FirstChildElement("radius"))
+			{
+				parseVector3(geom.m_meshScale,scale->GetText(),logger);
+				geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());	
+			}
+			if (TiXmlElement* scale = shape->FirstChildElement("length"))
+			{
+				parseVector3(geom.m_meshScale,scale->GetText(),logger);
+				geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());	
+			}
+		} else
+		{
+			if (!shape->Attribute("length") || !shape->Attribute("radius"))
+			{
+				logger->reportError("Capsule shape must have both length and radius attributes");
+				return false;
+			}
+			geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
+			geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
+		}
 	}
 	else if (type_name == "mesh")
 	{

examples/OpenGLWindow/CMakeLists.txt

@@ -62,7 +62,7 @@ if (BUILD_SHARED_LIBS)
   else()
 	set (CMAKE_THREAD_PREFER_PTHREAD TRUE)
 	FIND_PACKAGE(Threads)
-	target_link_libraries(OpenGLWindow ${DL} ${CMAKE_THREAD_LIBS_INIT})
+	target_link_libraries(OpenGLWindow ${CMAKE_THREAD_LIBS_INIT})
   endif()
 endif()
 

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/ThirdPartyLibs/Gwen/Macros.h

@@ -4,8 +4,10 @@
 #define GWEN_MACROS_H
 #include <stdlib.h>
 #include <stdarg.h>
-#if !defined(__APPLE__) && !defined(__OpenBSD__)
+#if !defined(__APPLE__) && !defined(__OpenBSD__) && !defined(__FreeBSD__)
-#include <malloc.h>
+	#include <malloc.h>
+#else
+	#include <stdlib.h>
 #endif //__APPLE__
 #include <memory.h>
 #include <algorithm>

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]
+    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)
     for i in range(self._actionRepeat):

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -39,10 +39,12 @@ class MJCFBaseBulletEnv(gym.Env):
 
 	def _reset(self):
 		if (self.physicsClientId<0):
-			if (self.isRender):
+			self.physicsClientId = -1 #p.connect(p.SHARED_MEMORY)
-				self.physicsClientId = p.connect(p.GUI)
+			if (self.physicsClientId<0):
-			else:
+				if (self.isRender):
-				self.physicsClientId = p.connect(p.DIRECT)
+					self.physicsClientId = p.connect(p.GUI)
+				else:
+					self.physicsClientId = p.connect(p.DIRECT)
 		p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
   
 		if self.scene is None:

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()
+	

examples/pybullet/gym/pybullet_envs/examples/testMJCF.py

@@ -0,0 +1,28 @@
+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 as p
+import pybullet_data
+import time
+
+def test(args):	
+	p.connect(p.GUI)
+	p.setAdditionalSearchPath(pybullet_data.getDataPath())
+	fileName = os.path.join("mjcf", args.mjcf)
+	print("fileName")
+	print(fileName)
+	p.loadMJCF(fileName)
+	while (1):
+		p.stepSimulation()
+		p.getCameraImage(320,240)
+		time.sleep(0.01)
+	
+if __name__ == '__main__':
+	import argparse
+	parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+	parser.add_argument('--mjcf', help='MJCF filename', default="humanoid.xml")
+	args = parser.parse_args()
+	test(args)

setup.py

@@ -440,7 +440,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.3.5',
+	version='1.3.8',
 	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.',
 	url='https://github.com/bulletphysics/bullet3',
@@ -467,6 +467,7 @@ setup(
                    'Programming Language :: Python :: 3.5',
                    'Programming Language :: Python :: 3.6',
                    'Topic :: Games/Entertainment :: Simulation',
+                   'Topic :: Scientific/Engineering :: Artificial Intelligence',
                    'Framework :: Robot Framework'],
     package_dir = { '': 'examples/pybullet/gym'},
     packages=[x for x in find_packages('examples/pybullet/gym')],