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Fix for 1643, allow to instantiate multiple PyBullet Gym environments (Ant, Humanoid, Hopper, Pendula etc) in the same process (same or other thread). It uses the pybullet_utils.bullet_client to achieve this.

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This commit is contained in:
Erwin Coumans
2018-05-18 16:23:54 -07:00
parent d17d496f97
commit 0abe4151e5
24 changed files with 163 additions and 403 deletions
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44
examples/pybullet/gym/pybullet_envs/env_bases.py
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@@ -1,6 +1,8 @@
import gym, gym.spaces, gym.utils, gym.utils.seeding
import numpy as np
import pybullet as p
import pybullet
from pybullet_utils import bullet_client
from pkg_resources import parse_version
class MJCFBaseBulletEnv(gym.Env):
@@ -17,7 +19,7 @@ class MJCFBaseBulletEnv(gym.Env):
def __init__(self, robot, render=False):
self.scene = None
self.physicsClientId=-1
self.physicsClientId = -1
self.ownsPhysicsClient = 0
self.camera = Camera()
self.isRender = render
@@ -40,25 +42,21 @@ class MJCFBaseBulletEnv(gym.Env):
def _reset(self):
if (self.physicsClientId<0):
conInfo = p.getConnectionInfo()
if (conInfo['isConnected']):
self.ownsPhysicsClient = False
self.ownsPhysicsClient = True
self.physicsClientId = 0
if self.isRender:
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
else:
self.ownsPhysicsClient = True
self.physicsClientId = p.connect(p.SHARED_MEMORY)
if (self.physicsClientId<0):
if (self.isRender):
self.physicsClientId = p.connect(p.GUI)
else:
self.physicsClientId = p.connect(p.DIRECT)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
self._p = bullet_client.BulletClient()
self.physicsClientId = self._p._client
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_GUI,0)
if self.scene is None:
self.scene = self.create_single_player_scene()
self.scene = self.create_single_player_scene(self._p)
if not self.scene.multiplayer and self.ownsPhysicsClient:
self.scene.episode_restart()
self.scene.episode_restart(self._p)
self.robot.scene = self.scene
@@ -66,7 +64,7 @@ class MJCFBaseBulletEnv(gym.Env):
self.done = 0
self.reward = 0
dump = 0
s = self.robot.reset()
s = self.robot.reset(self._p)
self.potential = self.robot.calc_potential()
return s
@@ -81,20 +79,20 @@ class MJCFBaseBulletEnv(gym.Env):
if (hasattr(self.robot,'body_xyz')):
base_pos = self.robot.body_xyz
view_matrix = p.computeViewMatrixFromYawPitchRoll(
view_matrix = self._p.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
yaw=self._cam_yaw,
pitch=self._cam_pitch,
roll=0,
upAxisIndex=2)
proj_matrix = p.computeProjectionMatrixFOV(
proj_matrix = self._p.computeProjectionMatrixFOV(
fov=60, aspect=float(self._render_width)/self._render_height,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = p.getCameraImage(
(_, _, px, _, _) = self._p.getCameraImage(
width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=p.ER_BULLET_HARDWARE_OPENGL
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]
@@ -104,7 +102,7 @@ class MJCFBaseBulletEnv(gym.Env):
def _close(self):
if (self.ownsPhysicsClient):
if (self.physicsClientId>=0):
p.disconnect(self.physicsClientId)
self._p.disconnect()
self.physicsClientId = -1
def HUD(self, state, a, done):
@@ -130,4 +128,4 @@ class Camera:
lookat = [x,y,z]
distance = 10
yaw = 10
p.resetDebugVisualizerCamera(distance, yaw, -20, lookat)
self._p.resetDebugVisualizerCamera(distance, yaw, -20, lookat)