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

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

examples/ExampleBrowser/main.cpp

@@ -20,8 +20,51 @@
 static double gMinUpdateTimeMicroSecs = 1000.;
 
 
+static bool interrupted=false;
+static OpenGLExampleBrowser* sExampleBrowser=0;
+
+#ifndef _WIN32
+#include <signal.h>
+#include <err.h>
+#include <unistd.h>
+static void cleanup(int signo)
+{
+printf("SIG cleanup: %d\n", signo);
+
+    if (interrupted) {  // this is the second time, we're hanging somewhere
+      //  if (example) {
+      //      example->abort();
+      //  }
+
+        b3Printf("Aborting and deleting SharedMemoryCommon object");
+        sleep(1);
+        delete sExampleBrowser;
+	sExampleBrowser = 0;
+        errx(EXIT_FAILURE, "aborted example on signal %d", signo);
+    } else
+    {
+	b3Printf("no action");
+    }
+    interrupted = true;
+    warnx("caught signal %d", signo);
+}
+#endif//_WIN32
+
 int main(int argc, char* argv[])
 {
+
+#ifndef _WIN32
+    struct sigaction action;
+    memset(&action, 0x0, sizeof(action));
+    action.sa_handler = cleanup;
+    static const int signos[] = { SIGHUP, SIGINT, SIGQUIT, SIGABRT, SIGSEGV, SIGPIPE, SIGTERM };
+    for (int ii(0); ii < sizeof(signos) / sizeof(*signos); ++ii) {
+        if (0 != sigaction(signos[ii], &action, NULL)) {
+            err(EXIT_FAILURE, "signal %d", signos[ii]);
+        }
+    }
+#endif
+
 	{
 		b3CommandLineArgs args(argc, argv);
 		b3Clock clock;
@@ -31,6 +74,7 @@ int main(int argc, char* argv[])
 		examples.initExampleEntries();
 
 		OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
+		sExampleBrowser = exampleBrowser;//for <CTRL-C> etc, cleanup shared memory
 		bool init = exampleBrowser->init(argc, argv);
 		exampleBrowser->registerFileImporter(".urdf", ImportURDFCreateFunc);
 		exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc);
@@ -57,7 +101,7 @@ int main(int argc, char* argv[])
 					clock.reset();
 					exampleBrowser->update(deltaTimeInSeconds);
 				}
-			} while (!exampleBrowser->requestedExit());
+			} while (!exampleBrowser->requestedExit() && !interrupted);
 		}
 		delete exampleBrowser;
 

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -86,7 +86,7 @@ public:
 b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[])
 {
     InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 1);
-    cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
+    cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
     cl->connect();
     return (b3PhysicsClientHandle ) cl;
 }
@@ -94,7 +94,7 @@ b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int arg
 b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[])
 {
     InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 0);
-    cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
+    cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
     cl->connect();
     return (b3PhysicsClientHandle ) cl;
 }

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

@@ -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

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -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]

examples/pybullet/pybullet.c

@@ -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.");
+				printf("Connection terminated, couldn't get body info\n");
-				return NULL;
+				b3DisconnectSharedMemory(sm);
+                		sm = 0;
+				sPhysicsClients1[freeIndex] = 0;
+                       		sPhysicsClientsGUI[freeIndex] = 0;
+                        	sNumPhysicsClients++;
+				return -1;
 			}
-#endif
 		}
 	}
 	return PyInt_FromLong(freeIndex);

setup.py

@@ -440,7 +440,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.3.8',
+	version='1.4.0',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',