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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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14
examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py
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@@ -3,7 +3,7 @@ from .env_bases import MJCFBaseBulletEnv
from robot_pendula import InvertedPendulum, InvertedPendulumSwingup, InvertedDoublePendulum
import gym, gym.spaces, gym.utils, gym.utils.seeding
import numpy as np
import pybullet as p
import pybullet
import os, sys
class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
@@ -12,8 +12,8 @@ class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
MJCFBaseBulletEnv.__init__(self, self.robot)
self.stateId=-1
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.8, timestep=0.0165, frame_skip=1)
def _reset(self):
if (self.stateId>=0):
@@ -21,7 +21,7 @@ class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self)
if (self.stateId<0):
self.stateId = p.saveState()
self.stateId = self._p.saveState()
#print("InvertedPendulumBulletEnv reset self.stateId=",self.stateId)
return r
@@ -54,15 +54,15 @@ class InvertedDoublePendulumBulletEnv(MJCFBaseBulletEnv):
self.robot = InvertedDoublePendulum()
MJCFBaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.8, timestep=0.0165, frame_skip=1)
def _reset(self):
if (self.stateId>=0):
p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self)
if (self.stateId<0):
self.stateId = p.saveState()
self.stateId = self._p.saveState()
return r
def _step(self, a):