Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

16
examples/pybullet/gym/pybullet_envs/gym_manipulator_envs.py
View File

@@ -9,8 +9,8 @@ class ReacherBulletEnv(MJCFBaseBulletEnv):
self.robot = Reacher()
MJCFBaseBulletEnv.__init__(self, self.robot)
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=0.0, timestep=0.0165, frame_skip=1)
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=0.0, timestep=0.0165, frame_skip=1)
def _step(self, a):
assert (not self.scene.multiplayer)
@@ -43,8 +43,8 @@ class PusherBulletEnv(MJCFBaseBulletEnv):
self.robot = Pusher()
MJCFBaseBulletEnv.__init__(self, self.robot)
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.81, timestep=0.0020, frame_skip=5)
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.81, timestep=0.0020, frame_skip=5)
def _step(self, a):
self.robot.apply_action(a)
@@ -100,8 +100,8 @@ class StrikerBulletEnv(MJCFBaseBulletEnv):
self._min_strike_dist = np.inf
self.strike_threshold = 0.1
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.81, timestep=0.0020, frame_skip=5)
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.81, timestep=0.0020, frame_skip=5)
def _step(self, a):
self.robot.apply_action(a)
@@ -173,8 +173,8 @@ class ThrowerBulletEnv(MJCFBaseBulletEnv):
self.robot = Thrower()
MJCFBaseBulletEnv.__init__(self, self.robot)
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=0.0, timestep=0.0020, frame_skip=5)
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=0.0, timestep=0.0020, frame_skip=5)
def _step(self, a):
self.robot.apply_action(a)