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fix pybullet racecarGymEnv to use thread-safe pybullet

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This commit is contained in:
Erwin Coumans
2017-08-23 18:22:20 -07:00
parent 75231d63e8
commit ff4270a517
3 changed files with 37 additions and 36 deletions
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14
examples/pybullet/gym/pybullet_envs/bullet/racecar.py
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@@ -1,24 +1,24 @@
import os
import pybullet as p
import numpy as np
import copy
import math
class Racecar:
def __init__(self, urdfRootPath='', timeStep=0.01):
def __init__(self, bullet_client, urdfRootPath='', timeStep=0.01):
self.urdfRootPath = urdfRootPath
self.timeStep = timeStep
self._p = bullet_client
self.reset()
def reset(self):
self.racecarUniqueId = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","racecar/racecar.urdf"), [0,0,.2])
self.racecarUniqueId = self._p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","racecar/racecar.urdf"), [0,0,.2])
self.maxForce = 20
self.nMotors = 2
self.motorizedwheels=[2]
self.inactiveWheels = [3,5,7]
for wheel in self.inactiveWheels:
p.setJointMotorControl2(self.racecarUniqueId,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
self._p.setJointMotorControl2(self.racecarUniqueId,wheel,self._p.VELOCITY_CONTROL,targetVelocity=0,force=0)
self.motorizedWheels = [2]
self.steeringLinks=[4,6]
@@ -33,7 +33,7 @@ class Racecar:
def getObservation(self):
observation = []
pos,orn=p.getBasePositionAndOrientation(self.racecarUniqueId)
pos,orn=self._p.getBasePositionAndOrientation(self.racecarUniqueId)
observation.extend(list(pos))
observation.extend(list(orn))
@@ -52,7 +52,7 @@ class Racecar:
for motor in self.motorizedwheels:
p.setJointMotorControl2(self.racecarUniqueId,motor,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=self.maxForce)
self._p.setJointMotorControl2(self.racecarUniqueId,motor,self._p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=self.maxForce)
for steer in self.steeringLinks:
p.setJointMotorControl2(self.racecarUniqueId,steer,p.POSITION_CONTROL,targetPosition=steeringAngle)
self._p.setJointMotorControl2(self.racecarUniqueId,steer,self._p.POSITION_CONTROL,targetPosition=steeringAngle)