(Don't merge without review!) Allow to build Roboschool using regular Bullet library using BulletRobotics

[erwincoumans]

I added the Extras/BulletRobotics library so it is easier to build Roboschool out-of-the-box. Note that the self-collision changes are all in the Bullet repo, I don't think you need any custom modifications.

In addition, it contains all the fixes I had to make to run on latest Mac OSX (Sierra 10.12 and High Sierra 10.13).

Finally, this will first try to connect to SHARED_MEMORY, if it fails use DIRECT mode. This will let me easier debug thing outside of Roboschool: spawn a pybullet server in 'connect(p.GUI_SERVER) etc.

If/when you are happy, we could create some tagged release in Bullet, so you don't get surprising regressions.

[urbanintell]

@erwincoumans I am trying to get this running on the latest version of macOS, but I am running into this error:

Complete output from command python setup.py egg_info:
found resource files: 201
running egg_info
Mac, assumed python3, homebrew branch
Link against python 3.6
Slow hardware or software render (no shadows)
rm -f ../robot-test-tool ../robot-test-tool_d ../cpp_household.so ../cpp_household_d.so .build-release/physics-bullet.o .build-release/assets-mesh.o .build-release/random-world-tools.o .build-release/render-glwidget.o .build-release/render-hud.o .build-release/render-simple.o .build-release/render-simple-primitives.o .build-release/test-tool-qt4.o .build-release/python-binding.o .build-debug/physics-bullet.o .build-debug/assets-mesh.o .build-debug/random-world-tools.o .build-debug/render-glwidget.o .build-debug/render-hud.o .build-debug/render-simple.o .build-debug/render-simple-primitives.o .build-debug/test-tool-qt4.o .build-debug/python-binding.o .generated/*.moc *.ilk *.pdb .build-release/physics-bullet.o.dep .build-release/assets-mesh.o.dep .build-release/random-world-tools.o.dep .build-release/render-glwidget.o.dep .build-release/render-hud.o.dep .build-release/render-simple.o.dep .build-release/render-simple-primitives.o.dep .build-release/test-tool-qt4.o.dep .build-release/python-binding.o.dep .build-debug/physics-bullet.o.dep .build-debug/assets-mesh.o.dep .build-debug/random-world-tools.o.dep .build-debug/render-glwidget.o.dep .build-debug/render-hud.o.dep .build-debug/render-simple.o.dep .build-debug/render-simple-primitives.o.dep .build-debug/test-tool-qt4.o.dep .build-debug/python-binding.o.dep
rm -rf .generated
rm -rf .build-debug
rm -rf .build-release
Mac, assumed python3, homebrew branch
Link against python 3.6
Slow hardware or software render (no shadows)
mkdir -p .generated
mkdir -p .build-release
mkdir -p .build-debug
gcc -std=c++11 -Wall -Wno-unused-variable -Wno-unused-function -Wno-deprecated-register -fPIC -DBT_USE_DOUBLE_PRECISION -g -O3 -march=native -I/System/Library/Frameworks/OpenGL.framework/Headers -I/usr/local/include -I/usr/local/opt/qt/include -I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/OpenGL.framework/Headers pkg-config --cflags Qt5Widgets Qt5OpenGL assimp python-3.6 -Ibullet_local_install/include -Ibullet_local_install/include/bullet -I/usr/local/include/bullet -c physics-bullet.cpp -o.build-release/physics-bullet.o -MMD -MF .build-release/physics-bullet.o.dep
gcc -std=c++11 -Wall -Wno-unused-variable -Wno-unused-function -Wno-deprecated-register -fPIC -DBT_USE_DOUBLE_PRECISION -g -O3 -march=native -I/System/Library/Frameworks/OpenGL.framework/Headers -I/usr/local/include -I/usr/local/opt/qt/include -I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/OpenGL.framework/Headers pkg-config --cflags Qt5Widgets Qt5OpenGL assimp python-3.6 -Ibullet_local_install/include -Ibullet_local_install/include/bullet -I/usr/local/include/bullet -c assets-mesh.cpp -o.build-release/assets-mesh.o -MMD -MF .build-release/assets-mesh.o.dep
gcc -std=c++11 -Wall -Wno-unused-variable -Wno-unused-function -Wno-deprecated-register -fPIC -DBT_USE_DOUBLE_PRECISION -g -O3 -march=native -I/System/Library/Frameworks/OpenGL.framework/Headers -I/usr/local/include -I/usr/local/opt/qt/include -I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/OpenGL.framework/Headers pkg-config --cflags Qt5Widgets Qt5OpenGL assimp python-3.6 -Ibullet_local_install/include -Ibullet_local_install/include/bullet -I/usr/local/include/bullet -c random-world-tools.cpp -o.build-release/random-world-tools.o -MMD -MF .build-release/random-world-tools.o.dep
gcc -std=c++11 -Wall -Wno-unused-variable -Wno-unused-function -Wno-deprecated-register -fPIC -DBT_USE_DOUBLE_PRECISION -g -O3 -march=native -I/System/Library/Frameworks/OpenGL.framework/Headers -I/usr/local/include -I/usr/local/opt/qt/include -I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/OpenGL.framework/Headers pkg-config --cflags Qt5Widgets Qt5OpenGL assimp python-3.6 -Ibullet_local_install/include -Ibullet_local_install/include/bullet -I/usr/local/include/bullet -c render-glwidget.cpp -o.build-release/render-glwidget.o -MMD -MF .build-release/render-glwidget.o.dep
gcc -std=c++11 -Wall -Wno-unused-variable -Wno-unused-function -Wno-deprecated-register -fPIC -DBT_USE_DOUBLE_PRECISION -g -O3 -march=native -I/System/Library/Frameworks/OpenGL.framework/Headers -I/usr/local/include -I/usr/local/opt/qt/include -I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/OpenGL.framework/Headers pkg-config --cflags Qt5Widgets Qt5OpenGL assimp python-3.6 -Ibullet_local_install/include -Ibullet_local_install/include/bullet -I/usr/local/include/bullet -c render-hud.cpp -o.build-release/render-hud.o -MMD -MF .build-release/render-hud.o.dep
gcc -std=c++11 -Wall -Wno-unused-variable -Wno-unused-function -Wno-deprecated-register -fPIC -DBT_USE_DOUBLE_PRECISION -g -O3 -march=native -I/System/Library/Frameworks/OpenGL.framework/Headers -I/usr/local/include -I/usr/local/opt/qt/include -I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/OpenGL.framework/Headers pkg-config --cflags Qt5Widgets Qt5OpenGL assimp python-3.6 -Ibullet_local_install/include -Ibullet_local_install/include/bullet -I/usr/local/include/bullet -c render-simple.cpp -o.build-release/render-simple.o -MMD -MF .build-release/render-simple.o.dep
gcc -std=c++11 -Wall -Wno-unused-variable -Wno-unused-function -Wno-deprecated-register -fPIC -DBT_USE_DOUBLE_PRECISION -g -O3 -march=native -I/System/Library/Frameworks/OpenGL.framework/Headers -I/usr/local/include -I/usr/local/opt/qt/include -I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/OpenGL.framework/Headers pkg-config --cflags Qt5Widgets Qt5OpenGL assimp python-3.6 -Ibullet_local_install/include -Ibullet_local_install/include/bullet -I/usr/local/include/bullet -c render-simple-primitives.cpp -o.build-release/render-simple-primitives.o -MMD -MF .build-release/render-simple-primitives.o.dep
gcc -std=c++11 -Wall -Wno-unused-variable -Wno-unused-function -Wno-deprecated-register -fPIC -DBT_USE_DOUBLE_PRECISION -g -O3 -march=native -I/System/Library/Frameworks/OpenGL.framework/Headers -I/usr/local/include -I/usr/local/opt/qt/include -I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/OpenGL.framework/Headers pkg-config --cflags Qt5Widgets Qt5OpenGL assimp python-3.6 -Ibullet_local_install/include -Ibullet_local_install/include/bullet -I/usr/local/include/bullet -c python-binding.cpp -o.build-release/python-binding.o -MMD -MF .build-release/python-binding.o.dep
gcc -shared -o../cpp_household.so .build-release/physics-bullet.o .build-release/assets-mesh.o .build-release/random-world-tools.o .build-release/render-glwidget.o .build-release/render-hud.o .build-release/render-simple.o .build-release/render-simple-primitives.o .build-release/python-binding.o -L/usr/local/Cellar/boost-python/1.64.0/lib -framework OpenGL -lstdc++ pkg-config --libs Qt5OpenGL Qt5Widgets tinyxml assimp python-3.6 -Lbullet_local_install/lib -lLinearMath -lBullet3Common -lBulletCollision -lBulletDynamics -lBulletInverseDynamics -lBulletRobotics -lboost_python3
ld: warning: directory not found for option '-L/usr/local/Cellar/boost-python/1.64.0/lib'
ld: library not found for -lboost_python3
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make: *** [../cpp_household.so] Error 1
cd /Users/lusenii/Developer/roboschool/roboschool/roboschool/cpp-household && make clean && make -j4 dirs ../cpp_household.so

C++ dependencies for this project are:

bullet
tinyxml
boost_python
assimp
Qt5

If you see compilation error FIRST THING TO CHECK if pkg-config call was successful.
Install dependencies that pkg-config cannot find.


----------------------------------------

Command "python setup.py egg_info" failed with error code 1

[olegklimov]

Oh, just found this. Looks great!

[erwincoumans]

There are some issues we are tracking down. We are converting the Roboschool envs to pybullet in a compatible way so we can exchange trained weights. Some envs work (such as Ant), but cheetah and hopper doesn't yet. We are tracking this down now here:

https://github.com/bulletphysics/bullet3/pull/1320/files/73877901f74f1791653dfe4d8d8a1fa26122962b..a27b865ed5eb29d27ff5c51c87745ce48f5c9aa8

Also, I fixed the MJCF capsule conversion code for TinyRenderer, and this breaks Roboschool. I'll look into a fix that works for both, or otherwise create some flag that Roboschool can call (during loadMJCF) for backwards compatibility of the rendering.

The capsule change is in this commit:
bulletphysics/bullet3@ec18adb

[akovac35]

Hello, I am following up on this request - it seems the idea is to stop using a separate fork of Bullet - that would be great because Bullet has a lot of contributors and is frequently updated. Is there any reason for using a Bullet fork and not the original Bullet?

[erwincoumans]

Hi @akovac35 , you can also just use PyBullet, it has most of the Roboschool environments and several other envs. It is this simple:

sudo pip install pybullet
python -m pybullet_envs.examples.enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul

PyBullet Quickstart Guide is here.