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add sigaction handler to Example Browser, to always shutdown shared memory

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make GUI_SERVER more reliable
next attempt to connect to SHARED_MEMORY in Gym envs, if available, before DIRECT/GUI
allow software rendering fallback, even if ER_BULLET_HARDWARE_OPENGL is chosen in getCameraImage
This commit is contained in:
Erwin Coumans
2017-09-13 13:30:16 -07:00
parent c250a5f0b9
commit 340a8f4704
6 changed files with 57 additions and 10 deletions
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2
examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
View File

@@ -278,7 +278,7 @@ class MinitaurBulletEnv(gym.Env):
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = self._pybullet_client.getCameraImage(
width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
projectionMatrix=proj_matrix)
projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]
return rgb_array

2
examples/pybullet/gym/pybullet_envs/env_bases.py
View File

@@ -82,7 +82,7 @@ class MJCFBaseBulletEnv(gym.Env):
(_, _, px, _, _) = p.getCameraImage(
width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
#renderer=p.ER_BULLET_HARDWARE_OPENGL
renderer=p.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]

11
examples/pybullet/pybullet.c
View File

@@ -440,13 +440,16 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
command = b3InitSyncBodyInfoCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
#if 0
if (statusType != CMD_BODY_INFO_COMPLETED)
{
PyErr_SetString(SpamError, "b3InitSyncBodyInfoCommand failed.");
return NULL;
printf("Connection terminated, couldn't get body info\n");
b3DisconnectSharedMemory(sm);
sm = 0;
sPhysicsClients1[freeIndex] = 0;
sPhysicsClientsGUI[freeIndex] = 0;
sNumPhysicsClients++;
return -1;
}
#endif
}
}
return PyInt_FromLong(freeIndex);