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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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6
examples/pybullet/gym/pybullet_envs/robot_pendula.py
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@@ -6,7 +6,8 @@ class InvertedPendulum(MJCFBasedRobot):
def __init__(self):
MJCFBasedRobot.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
def robot_specific_reset(self):
def robot_specific_reset(self, bullet_client):
self._p = bullet_client
self.pole = self.parts["pole"]
self.slider = self.jdict["slider"]
self.j1 = self.jdict["hinge"]
@@ -55,7 +56,8 @@ class InvertedDoublePendulum(MJCFBasedRobot):
def __init__(self):
MJCFBasedRobot.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
def robot_specific_reset(self):
def robot_specific_reset(self, bullet_client):
self._p = bullet_client
self.pole2 = self.parts["pole2"]
self.slider = self.jdict["slider"]
self.j1 = self.jdict["hinge"]