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

Use pybullet_utils.bullet_client for all our BulletClient needs

Browse Source
This commit is contained in:
David Rusu
2019-12-08 20:10:12 -05:00
parent 08bc887b19
commit dd3bdf0da1
8 changed files with 18 additions and 101 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
View File

@@ -1,29 +0,0 @@
import functools
import inspect
import pybullet
class BulletClient(object):
"""A wrapper for pybullet to manage different clients."""
def __init__(self, connection_mode=pybullet.DIRECT, options=""):
"""Create a simulation and connect to it."""
self._client = pybullet.connect(pybullet.SHARED_MEMORY)
if (self._client < 0):
print("options=", options)
self._client = pybullet.connect(connection_mode, options=options)
self._shapes = {}
def __del__(self):
"""Clean up connection if not already done."""
try:
pybullet.disconnect(physicsClientId=self._client)
except pybullet.error:
pass
def __getattr__(self, name):
"""Inject the client id into Bullet functions."""
attribute = getattr(pybullet, name)
if inspect.isbuiltin(attribute):
attribute = functools.partial(attribute, physicsClientId=self._client)
return attribute

6
examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py
View File

@@ -17,7 +17,7 @@ from gym import spaces
from gym.utils import seeding
import numpy as np
import pybullet
from . import bullet_client
import pybullet_utils.bullet_client as bc
from . import minitaur
import pybullet_data
from . import minitaur_env_randomizer
@@ -150,9 +150,9 @@ class MinitaurBulletDuckEnv(gym.Env):
self._action_repeat *= NUM_SUBSTEPS
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI)
self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI)
else:
self._pybullet_client = bullet_client.BulletClient()
self._pybullet_client = bc.BulletClient()
self.seed()
self.reset()

6
examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
View File

@@ -14,7 +14,7 @@ from gym import spaces
from gym.utils import seeding
import numpy as np
import pybullet
from . import bullet_client
import pybullet_utils.bullet_client as bc
from . import minitaur
import os
import pybullet_data
@@ -145,9 +145,9 @@ class MinitaurBulletEnv(gym.Env):
self._action_repeat *= NUM_SUBSTEPS
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI)
self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI)
else:
self._pybullet_client = bullet_client.BulletClient()
self._pybullet_client = bc.BulletClient()
self.seed()
self.reset()

6
examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py
View File

@@ -12,7 +12,7 @@ import numpy as np
import pybullet
from . import racecar
import random
from . import bullet_client
import pybullet_utils.bullet_client as bc
import pybullet_data
from pkg_resources import parse_version
@@ -40,9 +40,9 @@ class RacecarGymEnv(gym.Env):
self._renders = renders
self._isDiscrete = isDiscrete
if self._renders:
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
self._p = bc.BulletClient(connection_mode=pybullet.GUI)
else:
self._p = bullet_client.BulletClient()
self._p = bc.BulletClient()
self.seed()
#self.reset()

6
examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py
View File

@@ -10,7 +10,7 @@ from gym.utils import seeding
import numpy as np
import time
import pybullet
from . import bullet_client
import pybullet_utils.bullet_client as bc
from . import racecar
import random
import pybullet_data
@@ -42,9 +42,9 @@ class RacecarZEDGymEnv(gym.Env):
self._isDiscrete = isDiscrete
if self._renders:
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
self._p = bc.BulletClient(connection_mode=pybullet.GUI)
else:
self._p = bullet_client.BulletClient()
self._p = bc.BulletClient()
self.seed()
self.reset()