update minitaur gym env

examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py

@@ -0,0 +1,29 @@
+import functools
+import inspect
+import pybullet
+
+
+class BulletClient(object):
+  """A wrapper for pybullet to manage different clients."""
+
+  def __init__(self, connection_mode=pybullet.DIRECT):
+    """Create a simulation and connect to it."""
+    self._client = pybullet.connect(connection_mode)
+    self._shapes = {}
+
+  def __del__(self):
+    """Clean up connection if not already done."""
+    try:
+      pybullet.disconnect(physicsClientId=self._client)
+    except pybullet.error:
+      pass
+
+  def __getattr__(self, name):
+    """Inject the client id into Bullet functions."""
+    attribute = getattr(pybullet, name)
+    if inspect.isbuiltin(attribute):
+      if name not in ["invertTransform", "multiplyTransforms",
+                      "getMatrixFromQuaternion"]:  # A temporary hack for now.
+        attribute = functools.partial(attribute, physicsClientId=self._client)
+    return attribute
+