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.

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py

@@ -4,10 +4,9 @@ import inspect
 currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
 parentdir = os.path.dirname(os.path.dirname(currentdir))
 os.sys.path.insert(0,parentdir)
-
+import pybullet
 import gym
 import numpy as np
-import pybullet as p
 import pybullet_envs
 import time
 
@@ -29,17 +28,12 @@ class SmallReactivePolicy:
         return x
 
 def main():
+    pybullet.connect(pybullet.DIRECT)
     env = gym.make("AntBulletEnv-v0")
     env.render(mode="human")
     
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
     env.reset()
-    torsoId = -1
-    for i in range (p.getNumBodies()):
-        print(p.getBodyInfo(i))
-        if (p.getBodyInfo(i)[0].decode() == "torso"):
-           torsoId=i
-           print("found torso")
 
     while 1:
         frame = 0
@@ -57,14 +51,6 @@ def main():
             frame += 1
             distance=5
             yaw = 0
-            humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
-            camInfo = p.getDebugVisualizerCamera()
-            curTargetPos = camInfo[11]
-            distance=camInfo[10]
-            yaw = camInfo[8]
-            pitch=camInfo[9]
-            targetPos = [0.95*curTargetPos[0]+0.05*humanPos[0],0.95*curTargetPos[1]+0.05*humanPos[1],curTargetPos[2]]
-            p.resetDebugVisualizerCamera(distance,yaw,pitch,targetPos);
 
             still_open = env.render("human")
             if still_open==False:

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py

@@ -6,7 +6,6 @@ os.sys.path.insert(0,parentdir)
 
 import gym
 import numpy as np
-import pybullet as p
 import pybullet_envs
 import time
 
@@ -34,15 +33,6 @@ def main():
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
     #disable rendering during reset, makes loading much faster
     env.reset()
-    torsoId = -1
-    for i in range (p.getNumBodies()):
-        print(p.getBodyInfo(i))
-        if (p.getBodyInfo(i)[1].decode() == "cheetah"):
-           torsoId=i
-           print("found torso")
-           print(p.getNumJoints(torsoId))
-           for j in range (p.getNumJoints(torsoId)):
-              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
 
     while 1:
         frame = 0
@@ -55,16 +45,6 @@ def main():
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
-            distance=5
-            yaw = 0
-            humanPos = p.getLinkState(torsoId,4)[0]
-            camInfo = p.getDebugVisualizerCamera()
-            curTargetPos = camInfo[11]
-            distance=camInfo[10]
-            yaw = camInfo[8]
-            pitch=camInfo[9]
-            targetPos = [0.95*curTargetPos[0]+0.05*humanPos[0],0.95*curTargetPos[1]+0.05*humanPos[1],curTargetPos[2]]
-            p.resetDebugVisualizerCamera(distance,yaw,pitch,targetPos);
 
             still_open = env.render("human")
             if still_open==False:

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py

@@ -6,7 +6,6 @@ os.sys.path.insert(0,parentdir)
 
 import gym
 import numpy as np
-import pybullet as p
 import pybullet_envs
 import time
 
@@ -35,14 +34,6 @@ def main():
     
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
     env.reset()
-    for i in range (p.getNumBodies()):
-        print(p.getBodyInfo(i))
-        if (p.getBodyInfo(i)[1].decode() == "hopper"):
-           torsoId=i
-           print("found torso")
-           print(p.getNumJoints(torsoId))
-           for j in range (p.getNumJoints(torsoId)):
-              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
     while 1:
         frame = 0
         score = 0
@@ -56,16 +47,6 @@ def main():
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
-            distance=5
-            yaw = 0
-            humanPos = p.getLinkState(torsoId,4)[0]
-            camInfo = p.getDebugVisualizerCamera()
-            curTargetPos = camInfo[11]
-            distance=camInfo[10]
-            yaw = camInfo[8]
-            pitch=camInfo[9]
-            targetPos = [0.95*curTargetPos[0]+0.05*humanPos[0],0.95*curTargetPos[1]+0.05*humanPos[1],curTargetPos[2]]
-            p.resetDebugVisualizerCamera(distance,yaw,pitch,targetPos);
 
 
             still_open = env.render("human")

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py

@@ -6,7 +6,6 @@ os.sys.path.insert(0,parentdir)
 
 import gym
 import numpy as np
-import pybullet as p
 import pybullet_envs
 import time
 
@@ -33,12 +32,6 @@ def main():
     env.render(mode="human")
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
     env.reset()
-    torsoId = -1
-    for i in range (p.getNumBodies()):
-        print(p.getBodyInfo(i))
-        if (p.getBodyInfo(i)[0].decode() == "torso"):
-           torsoId=i
-           print("found humanoid torso")
     while 1:
         frame = 0
         score = 0
@@ -50,18 +43,7 @@ def main():
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
-            distance=5
-            yaw = 0
             time.sleep(1./60.)
-            humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
-            camInfo = p.getDebugVisualizerCamera()
-            curTargetPos = camInfo[11]
-            distance=camInfo[10]
-            yaw = camInfo[8]
-            pitch=camInfo[9]
-            targetPos = [0.95*curTargetPos[0]+0.05*humanPos[0],0.95*curTargetPos[1]+0.05*humanPos[1],curTargetPos[2]]
-            p.resetDebugVisualizerCamera(distance,yaw,pitch,targetPos);
-
 
             still_open = env.render("human")
             if still_open==False:

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py

@@ -6,7 +6,6 @@ os.sys.path.insert(0,parentdir)
 
 import gym
 import numpy as np
-import pybullet as p
 import pybullet_envs
 import os.path
 import time
@@ -41,28 +40,14 @@ def demo_run():
         score = 0
         restart_delay = 0
         obs = env.reset()
-        torsoId = -1
-        for i in range (p.getNumBodies()):
-          print(p.getBodyInfo(i))
-          if (p.getBodyInfo(i)[0].decode() == "torso"):
-            torsoId=i
-            print("found humanoid torso")
 
         while 1:
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
-            humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
             if (gui):
               time.sleep(1./60)
-              camInfo = p.getDebugVisualizerCamera()
-              curTargetPos = camInfo[11]
-              distance=camInfo[10]
-              yaw = camInfo[8]
-              pitch=camInfo[9]
-              targetPos = [0.95*curTargetPos[0]+0.05*humanPos[0],0.95*curTargetPos[1]+0.05*humanPos[1],curTargetPos[2]]
-              p.resetDebugVisualizerCamera(distance,yaw,pitch,targetPos);
 
             still_open = env.render("human")
 

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py

@@ -6,7 +6,6 @@ os.sys.path.insert(0,parentdir)
 
 import gym
 import numpy as np
-import pybullet as p
 import pybullet_envs
 import time
 

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py

@@ -6,7 +6,6 @@ os.sys.path.insert(0,parentdir)
 
 import gym
 import numpy as np
-import pybullet as p
 import pybullet_envs
 import time
 

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py

@@ -6,7 +6,6 @@ os.sys.path.insert(0,parentdir)
 
 import gym
 import numpy as np
-import pybullet as p
 import pybullet_envs
 import time
 

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py

@@ -6,7 +6,6 @@ os.sys.path.insert(0,parentdir)
 
 import gym
 import numpy as np
-import pybullet as p
 import pybullet_envs
 import time
 
@@ -33,15 +32,6 @@ def main():
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
     env.reset()
-    torsoId = -1
-    for i in range (p.getNumBodies()):
-        print(p.getBodyInfo(i))
-        if (p.getBodyInfo(i)[1].decode() == "walker2d"):
-           torsoId=i
-           print("found torso")
-           print(p.getNumJoints(torsoId))
-           for j in range (p.getNumJoints(torsoId)):
-              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
 
     while 1:
         frame = 0
@@ -50,21 +40,11 @@ def main():
         obs = env.reset()
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(1./60.)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
-            distance=5
-            yaw = 0
-            humanPos = p.getLinkState(torsoId,4)[0]
-            camInfo = p.getDebugVisualizerCamera()
-            curTargetPos = camInfo[11]
-            distance=camInfo[10]
-            yaw = camInfo[8]
-            pitch=camInfo[9]
-            targetPos = [0.95*curTargetPos[0]+0.05*humanPos[0],0.95*curTargetPos[1]+0.05*humanPos[1],curTargetPos[2]]
-            p.resetDebugVisualizerCamera(distance,yaw,pitch,targetPos);
 
             still_open = env.render("human")
             if still_open==False:

examples/pybullet/gym/pybullet_envs/examples/simpleHumanoidGymEnvTest.py

@@ -1,31 +0,0 @@
-#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
-import os, inspect
-currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
-parentdir = os.path.dirname(os.path.dirname(currentdir))
-os.sys.path.insert(0,parentdir)
-
-from pybullet_envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv
-
-def main():
-
-	environment = SimpleHumanoidGymEnv(renders=True)
-	
-	environment._p.setGravity(0,0,0)
-		
-	motorsIds=[]
-	for motor in environment._humanoid.motor_names:
-		motorsIds.append(environment._p.addUserDebugParameter(motor,-1,1,0))
-	
-	while (True):
-	    
-	  action=[]
-	  for motorId in motorsIds:
-	  	action.append(environment._p.readUserDebugParameter(motorId))
-	  
-	  state, reward, done, info = environment.step(action)
-	  obs = environment.getExtendedObservation()
-	  print("obs")
-	  print(obs)
-
-if __name__=="__main__":
-    main()