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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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24
examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
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@@ -1,7 +1,7 @@
from .scene_stadium import SinglePlayerStadiumScene
from .env_bases import MJCFBaseBulletEnv
import numpy as np
import pybullet as p
import pybullet
from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid, HumanoidFlagrun, HumanoidFlagrunHarder
@@ -16,25 +16,25 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
self.stateId=-1
def create_single_player_scene(self):
self.stadium_scene = SinglePlayerStadiumScene(gravity=9.8, timestep=0.0165/4, frame_skip=4)
def create_single_player_scene(self, bullet_client):
self.stadium_scene = SinglePlayerStadiumScene(bullet_client, gravity=9.8, timestep=0.0165/4, frame_skip=4)
return self.stadium_scene
def _reset(self):
if (self.stateId>=0):
#print("restoreState self.stateId:",self.stateId)
p.restoreState(self.stateId)
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING,0)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(self._p,
self.stadium_scene.ground_plane_mjcf)
self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in
self.foot_ground_object_names])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING,1)
if (self.stateId<0):
self.stateId=p.saveState()
self.stateId=self._p.saveState()
#print("saving state self.stateId:",self.stateId)
@@ -155,8 +155,8 @@ class HumanoidFlagrunBulletEnv(HumanoidBulletEnv):
self.robot = HumanoidFlagrun()
HumanoidBulletEnv.__init__(self, self.robot)
def create_single_player_scene(self):
s = HumanoidBulletEnv.create_single_player_scene(self)
def create_single_player_scene(self, bullet_client):
s = HumanoidBulletEnv.create_single_player_scene(self, bullet_client)
s.zero_at_running_strip_start_line = False
return s
@@ -168,8 +168,8 @@ class HumanoidFlagrunHarderBulletEnv(HumanoidBulletEnv):
self.electricity_cost /= 4 # don't care that much about electricity, just stand up!
HumanoidBulletEnv.__init__(self, self.robot)
def create_single_player_scene(self):
s = HumanoidBulletEnv.create_single_player_scene(self)
def create_single_player_scene(self, bullet_client):
s = HumanoidBulletEnv.create_single_player_scene(self, bullet_client)
s.zero_at_running_strip_start_line = False
return s