Merge pull request #1318 from erwincoumans/master

fix pybullet pendulums/pendula gym environments

Extras/Serialize/BulletFileLoader/btBulletFile.cpp

@@ -128,6 +128,9 @@ void btBulletFile::parseData()
 	mDataStart = 12;
 	remain-=12;
 	
+	//invalid/empty file?
+	if (remain < sizeof(bChunkInd))
+		return;
 
 	char *dataPtr = mFileBuffer+mDataStart;
 

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -629,12 +629,13 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 							textured_detailed_sphere_vertices[i*9+1],
 							textured_detailed_sphere_vertices[i*9+2]);
 				
-						btVector3 trVer = compound->getChildTransform(0)*(radiusScale*vert);
+						btVector3 trVer = (radiusScale*vert);
 						if (trVer[up]>0)
 							trVer[up]+=halfHeight;
 						else
 							trVer[up]-=halfHeight;
 
+						trVer = compound->getChildTransform(0)*trVer;
 
 						transformedVertices[i*9+0] = trVer[0];
 						transformedVertices[i*9+1] = trVer[1];

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -184,7 +184,6 @@ public:
 	 // return non-null if there is a status, nullptr otherwise
     virtual const struct SharedMemoryStatus* processServerStatus()
     {
-		printf("updating graphics!\n");
 		m_physicsServerExample->updateGraphics();
 
 		unsigned long long int curTime = m_clock.getTimeMicroseconds();

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -67,7 +67,11 @@ class MJCFBaseBulletEnv(gym.Env):
 			self.isRender = True
 		if mode != "rgb_array":
 			return np.array([])
-		base_pos = self.robot.body_xyz
+		
+		base_pos=[0,0,0]
+		if (hasattr(self,'robot')):
+			if (hasattr(self.robot,'body_xyz')):
+				base_pos = self.robot.body_xyz
 		
 		view_matrix = p.computeViewMatrixFromYawPitchRoll(
 			cameraTargetPosition=base_pos,

examples/pybullet/gym/pybullet_envs/robot_bases.py

@@ -53,6 +53,7 @@ class MJCFBasedRobot:
 				part_name = part_name.decode("utf8")
 				parts[part_name] = BodyPart(part_name, bodies, i, -1)
 			for j in range(p.getNumJoints(bodies[i])):
+				p.setJointMotorControl2(bodies[i],j,p.POSITION_CONTROL,positionGain=0.1,velocityGain=0.1,force=0)
 				_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
 
 				joint_name = joint_name.decode("utf8")
@@ -209,4 +210,4 @@ class Joint:
 		self.disable_motor()
 
 	def disable_motor(self):
-		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.VELOCITY_CONTROL, force=0)
+		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.POSITION_CONTROL, targetPosition=0, targetVelocity=0, positionGain=0.1, velocityGain=0.1, force=0)

examples/pybullet/gym/pybullet_envs/robot_pendula.py

@@ -19,7 +19,7 @@ class InvertedPendulum(MJCFBasedRobot):
 		if not np.isfinite(a).all():
 			print("a is inf")
 			a[0] = 0
-		self.slider.set_motor_torque( 100*float(np.clip(a[0], -1, +1)) )
+		self.slider.set_motor_torque(  100*float(np.clip(a[0], -1, +1)) )
 
 	def calc_state(self):
 		self.theta, theta_dot = self.j1.current_position()
@@ -81,4 +81,4 @@ class InvertedDoublePendulum(MJCFBasedRobot):
 			self.pos_x,
 			np.cos(theta), np.sin(theta), theta_dot,
 			np.cos(gamma), np.sin(gamma), gamma_dot,
-			])
+			])

setup.py

@@ -440,7 +440,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.4.2',
+	version='1.4.5',
 	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',