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Keep BulletClient connected until disconnect succeeds #4824

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Keep BulletClient connected until disconnect succeeds #4824

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8 changes: 6 additions & 2 deletions examples/pybullet/gym/pybullet_utils/bullet_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@ def __init__(self, connection_mode=None, hostName=None, options=''):
`pybullet.DIRECT` creates a headless simulation,
`pybullet.SHARED_MEMORY` connects to an existing simulation.
"""
self._client = -1
self._shapes = {}
self._pid = os.getpid()
if connection_mode is None:
Expand All @@ -43,11 +44,14 @@ def __del__(self):
except pybullet.error:
pass

def disconnect(self):
"""Disconnect this client and release its id after a successful call."""
pybullet.disconnect(physicsClientId=self._client)
self._client = -1

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)
if name=="disconnect":
self._client = -1
return attribute