Merge pull request #2530 from davidrusu/unify-uses-of-bullet-client

Unify usage of BulletClient in examples

examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py

@@ -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

examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py

@@ -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()

examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py

@@ -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()

examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py

@@ -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()

examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py

@@ -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()

examples/pybullet/gym/pybullet_envs/minitaur/envs/bullet_client.py

@@ -1,54 +0,0 @@
-"""A wrapper for pybullet to manage different clients."""
-from __future__ import absolute_import
-from __future__ import division
-import functools
-import inspect
-import pybullet
-
-
-class BulletClient(object):
-  """A wrapper for pybullet to manage different clients."""
-
-  def __init__(self, connection_mode=None):
-    """Creates a Bullet client and connects to a simulation.
-
-    Args:
-      connection_mode:
-        `None` connects to an existing simulation or, if fails, creates a
-          new headless simulation,
-        `pybullet.GUI` creates a new simulation with a GUI,
-        `pybullet.DIRECT` creates a headless simulation,
-        `pybullet.SHARED_MEMORY` connects to an existing simulation.
-    """
-    self._shapes = {}
-
-    if connection_mode is None:
-      self._client = pybullet.connect(pybullet.SHARED_MEMORY)
-      if self._client >= 0:
-        return
-      else:
-        connection_mode = pybullet.DIRECT
-    self._client = pybullet.connect(connection_mode)
-
-  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):
-      if name not in [
-          "invertTransform",
-          "multiplyTransforms",
-          "getMatrixFromQuaternion",
-          "getEulerFromQuaternion",
-          "computeViewMatrixFromYawPitchRoll",
-          "computeProjectionMatrixFOV",
-          "getQuaternionFromEuler",
-      ]:  # A temporary hack for now.
-        attribute = functools.partial(attribute, physicsClientId=self._client)
-    return attribute

examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py

@@ -14,7 +14,7 @@ from gym import spaces
 from gym.utils import seeding
 import numpy as np
 import pybullet
-from pybullet_envs.minitaur.envs import bullet_client
+import pybullet_utils.bullet_client as bc
 import pybullet_data
 from pybullet_envs.minitaur.envs import minitaur
 from pybullet_envs.minitaur.envs import minitaur_derpy
@@ -223,9 +223,9 @@ class MinitaurGymEnv(gym.Env):
     self._env_randomizers = convert_to_list(env_randomizer) if env_randomizer else []
     self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
     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()
     if self._urdf_version is None:
       self._urdf_version = DEFAULT_URDF_VERSION
     self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0)

examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py

@@ -14,7 +14,7 @@ from gym import spaces
 from gym.utils import seeding
 import numpy as np
 import pybullet
-from pybullet_envs.bullet import bullet_client
+import pybullet_utils.bullet_client as bc
 
 from pybullet_envs.prediction import boxstack_pybullet_sim
 
@@ -71,10 +71,10 @@ class PyBulletSimGymEnv(gym.Env):
     print("urdf_root=" + self._urdf_root)
 
     if self._is_render:
-      self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI,
+      self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI,
                                                          options=optionstring)
     else:
-      self._pybullet_client = bullet_client.BulletClient()
+      self._pybullet_client = bc.BulletClient()
 
     if (debug_visualization == False):
       self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_GUI,