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Merge pull request #2679 from erwincoumans/master

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Embed TCP remote graphics server in PyBullet (enable WFH), fixes for compilation on Visual C++ for Python 9.0
This commit is contained in:
erwincoumans
2020-03-22 14:04:35 -07:00
committed by GitHub
parent 4b41685d0e bd8c537c86
commit eab851635e
34 changed files with 53696 additions and 52062 deletions
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15
examples/pybullet/examples/graphicsClient.py Normal file
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@@ -0,0 +1,15 @@
import pybullet as p
import time
p.connect(p.GRAPHICS_SERVER_TCP)
import pybullet_data as pd
p.setAdditionalSearchPath(pd.getDataPath())
p.loadURDF("plane.urdf")
p.loadURDF("r2d2.urdf", [0,0,3])
p.setGravity(0,0,-10)
gravId = p.addUserDebugParameter("gravity",0,10,0)
while p.isConnected():
p.stepSimulation()

8
examples/pybullet/examples/graphicsServer.py Normal file
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@@ -0,0 +1,8 @@
import pybullet as p
import time
p.connect(p.GRAPHICS_SERVER)
#p.connect(p.GRAPHICS_SERVER_MAIN_THREAD)
while p.isConnected():
p.stepSimulation()
time.sleep(1./240.)

1
examples/pybullet/gym/pybullet_robots/laikago/__init__.py Normal file
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@@ -0,0 +1 @@

1
examples/pybullet/gym/pybullet_robots/xarm/__init__.py Normal file
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@@ -0,0 +1 @@

13
examples/pybullet/gym/pybullet_utils/graphicsClient.py Normal file
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@@ -0,0 +1,13 @@
import pybullet as p
import time
p.connect(p.GRAPHICS_SERVER_TCP)
import pybullet_data as pd
p.setAdditionalSearchPath(pd.getDataPath())
p.loadURDF("plane.urdf")
p.loadURDF("r2d2.urdf", [0,0,3])
p.setGravity(0,0,-10)
while p.isConnected():
p.stepSimulation()

7
examples/pybullet/gym/pybullet_utils/graphicsServer.py Normal file
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@@ -0,0 +1,7 @@
import pybullet as p
import time
p.connect(p.GRAPHICS_SERVER)
print("started graphics server")
while p.isConnected():
time.sleep(1./240.)

17
examples/pybullet/premake4.lua
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@@ -124,14 +124,15 @@ if not _OPTIONS["no-enet"] then
"../../examples/SharedMemory/PhysicsServerExample.cpp",
"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
"../SharedMemory/GraphicsClientExample.cpp",
"../SharedMemory/GraphicsClientExample.h",
"../SharedMemory/GraphicsServerExample.cpp",
"../SharedMemory/GraphicsServerExample.h",
"../SharedMemory/GraphicsSharedMemoryBlock.h",
"../SharedMemory/GraphicsSharedMemoryCommands.h",
"../SharedMemory/GraphicsSharedMemoryPublic.h",
"../SharedMemory/RemoteGUIHelper.cpp",
"../SharedMemory/RemoteGUIHelper.h",
"../SharedMemory/GraphicsClientExample.h",
"../SharedMemory/GraphicsServerExample.cpp",
"../SharedMemory/GraphicsServerExample.h",
"../SharedMemory/GraphicsSharedMemoryBlock.h",
"../SharedMemory/GraphicsSharedMemoryCommands.h",
"../SharedMemory/GraphicsSharedMemoryPublic.h",
"../SharedMemory/RemoteGUIHelper.cpp",
"../SharedMemory/RemoteGUIHelperTCP.cpp",
"../SharedMemory/RemoteGUIHelper.h",
"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",

85
examples/pybullet/pybullet.c
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@@ -438,6 +438,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
}
switch (method)
{
case eCONNECT_GUI:
{
#ifdef __APPLE__
@@ -458,6 +459,20 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
sm = b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(argc, argv);
#else
sm = b3CreateInProcessPhysicsServerAndConnectSharedMemory(argc, argv);
#endif
break;
}
case eCONNECT_GRAPHICS_SERVER_MAIN_THREAD:
{
sm = b3CreateInProcessGraphicsServerAndConnectMainThreadSharedMemory(tcpPort);
break;
}
case eCONNECT_GRAPHICS_SERVER:
{
#ifdef __APPLE__
sm = b3CreateInProcessGraphicsServerAndConnectMainThreadSharedMemory(tcpPort);
#else
sm = b3CreateInProcessGraphicsServerAndConnectSharedMemory(tcpPort);
#endif
break;
}
@@ -473,6 +488,17 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
break;
}
case eCONNECT_GRAPHICS_SERVER_TCP:
{
#ifdef BT_ENABLE_CLSOCKET
sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnectTCP(hostName, tcpPort);
#else
PyErr_SetString(SpamError, "TCP is not enabled in this pybullet build");
return NULL;
#endif//BT_ENABLE_CLSOCKET
break;
}
case eCONNECT_DIRECT:
{
@@ -576,34 +602,37 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
sPhysicsClientsGUI[freeIndex] = method;
sNumPhysicsClients++;
command = b3InitSyncBodyInfoCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
if (method != eCONNECT_GRAPHICS_SERVER && method != eCONNECT_GRAPHICS_SERVER_MAIN_THREAD)
{
printf("Connection terminated, couldn't get body info\n");
b3DisconnectSharedMemory(sm);
sm = 0;
sPhysicsClients1[freeIndex] = 0;
sPhysicsClientsGUI[freeIndex] = 0;
sNumPhysicsClients++;
return PyInt_FromLong(-1);
}
command = b3InitSyncBodyInfoCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
command = b3InitSyncUserDataCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
{
printf("Connection terminated, couldn't get body info\n");
b3DisconnectSharedMemory(sm);
sm = 0;
sPhysicsClients1[freeIndex] = 0;
sPhysicsClientsGUI[freeIndex] = 0;
sNumPhysicsClients++;
return PyInt_FromLong(-1);
}
if (statusType != CMD_SYNC_USER_DATA_COMPLETED)
{
printf("Connection terminated, couldn't get user data\n");
b3DisconnectSharedMemory(sm);
sm = 0;
sPhysicsClients1[freeIndex] = 0;
sPhysicsClientsGUI[freeIndex] = 0;
sNumPhysicsClients++;
return PyInt_FromLong(-1);
command = b3InitSyncUserDataCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SYNC_USER_DATA_COMPLETED)
{
printf("Connection terminated, couldn't get user data\n");
b3DisconnectSharedMemory(sm);
sm = 0;
sPhysicsClients1[freeIndex] = 0;
sPhysicsClientsGUI[freeIndex] = 0;
sNumPhysicsClients++;
return PyInt_FromLong(-1);
}
}
}
}
@@ -12568,6 +12597,12 @@ initpybullet(void)
PyModule_AddIntConstant(m, "GUI_MAIN_THREAD", eCONNECT_GUI_MAIN_THREAD); // user read
PyModule_AddIntConstant(m, "SHARED_MEMORY_SERVER", eCONNECT_SHARED_MEMORY_SERVER); // user read
PyModule_AddIntConstant(m, "SHARED_MEMORY_GUI", eCONNECT_SHARED_MEMORY_GUI); // user read
PyModule_AddIntConstant(m, "GRAPHICS_CLIENT", eCONNECT_SHARED_MEMORY_GUI); // user read
PyModule_AddIntConstant(m, "GRAPHICS_SERVER", eCONNECT_GRAPHICS_SERVER); // user read
PyModule_AddIntConstant(m, "GRAPHICS_SERVER_TCP", eCONNECT_GRAPHICS_SERVER_TCP); // user read
PyModule_AddIntConstant(m, "GRAPHICS_SERVER_MAIN_THREAD", eCONNECT_GRAPHICS_SERVER_MAIN_THREAD); // user read
#ifdef BT_ENABLE_DART