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

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)
 	

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)
 	

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]))
 

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,

examples/pybullet/pybullet.c

@@ -5008,7 +5008,7 @@ 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);
 		}
@@ -7275,6 +7275,8 @@ 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);