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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
erwincoumans
2018-06-16 06:06:18 -07:00
parent fbbd675ed6 5b3e43d4d8
commit bb8cbcdaae
14 changed files with 226 additions and 81 deletions
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15
examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
View File

@@ -39,6 +39,9 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
return r
def _isDone(self):
return self._alive < 0
def move_robot(self, init_x, init_y, init_z):
"Used by multiplayer stadium to move sideways, to another running lane."
@@ -60,8 +63,8 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
state = self.robot.calc_state() # also calculates self.joints_at_limit
alive = float(self.robot.alive_bonus(state[0]+self.robot.initial_z, self.robot.body_rpy[1])) # state[0] is body height above ground, body_rpy[1] is pitch
done = alive < 0
self._alive = float(self.robot.alive_bonus(state[0]+self.robot.initial_z, self.robot.body_rpy[1])) # state[0] is body height above ground, body_rpy[1] is pitch
done = self._isDone()
if not np.isfinite(state).all():
print("~INF~", state)
done = True
@@ -89,7 +92,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
debugmode=0
if(debugmode):
print("alive=")
print(alive)
print(self._alive)
print("progress")
print(progress)
print("electricity_cost")
@@ -100,7 +103,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
print(feet_collision_cost)
self.rewards = [
alive,
self._alive,
progress,
electricity_cost,
joints_at_limit_cost,
@@ -135,6 +138,9 @@ class HalfCheetahBulletEnv(WalkerBaseBulletEnv):
def __init__(self):
self.robot = HalfCheetah()
WalkerBaseBulletEnv.__init__(self, self.robot)
def _isDone(self):
return False
class AntBulletEnv(WalkerBaseBulletEnv):
def __init__(self):
@@ -172,4 +178,3 @@ class HumanoidFlagrunHarderBulletEnv(HumanoidBulletEnv):
s = HumanoidBulletEnv.create_single_player_scene(self, bullet_client)
s.zero_at_running_strip_start_line = False
return s

14
examples/pybullet/pybullet.c
View File

@@ -4683,16 +4683,17 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
int statusType;
PyObject* rayFromObjList = 0;
PyObject* rayToObjList = 0;
int numThreads = 1;
b3PhysicsClientHandle sm = 0;
int sizeFrom = 0;
int sizeTo = 0;
static char* kwlist[] = {"rayFromPositions", "rayToPositions", "physicsClientId", NULL};
static char* kwlist[] = {"rayFromPositions", "rayToPositions", "numThreads", "physicsClientId", NULL};
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist,
&rayFromObjList, &rayToObjList, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|ii", kwlist,
&rayFromObjList, &rayToObjList, &numThreads, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -4704,6 +4705,7 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
commandHandle = b3CreateRaycastBatchCommandInit(sm);
b3RaycastBatchSetNumThreads(commandHandle, numThreads);
if (rayFromObjList)
@@ -4725,7 +4727,7 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
{
int i;
if (lenFrom >= MAX_RAY_INTERSECTION_BATCH_SIZE)
if (lenFrom > MAX_RAY_INTERSECTION_BATCH_SIZE)
{
PyErr_SetString(SpamError, "Number of rays exceed the maximum batch size.");
Py_DECREF(seqRayFromObj);
@@ -9404,7 +9406,9 @@ static PyMethodDef SpamMethods[] = {
{"rayTestBatch", (PyCFunction)pybullet_rayTestBatch, METH_VARARGS | METH_KEYWORDS,
"Cast a batch of rays and return the result for each of the rays (first object hit, if any. or -1) "
"Takes two arguments (list of from_positions [x,y,z] and a list of to_positions [x,y,z] in Cartesian world coordinates"},
"Takes two required arguments (list of from_positions [x,y,z] and a list of to_positions [x,y,z] in Cartesian world coordinates) "
"and one optional argument numThreads to specify the number of threads to use to compute the ray intersections for the batch. "
"Specify 0 to let Bullet decide, 1 (default) for single core execution, 2 or more to select the number of threads to use."},
{ "loadPlugin", (PyCFunction)pybullet_loadPlugin, METH_VARARGS | METH_KEYWORDS,
"Load a plugin, could implement custom commands etc." },