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re-enable shared memory connection for pybullet Gym envs (with fallback to GUI or DIRECT)

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suppress shared memory connection warnings
add fallback from ER_BULLET_HARDWARE_OPENGL to TinyRenderer if not available
This commit is contained in:
Erwin Coumans
2017-09-13 09:56:39 -07:00
parent cc9995d44b
commit c250a5f0b9
9 changed files with 25 additions and 12 deletions
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2
examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
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@@ -8,7 +8,7 @@ class BulletClient(object):
def __init__(self, connection_mode=pybullet.DIRECT):
"""Create a simulation and connect to it."""
self._client = -1 #pybullet.connect(pybullet.SHARED_MEMORY)
self._client = pybullet.connect(pybullet.SHARED_MEMORY)
if(self._client<0):
self._client = pybullet.connect(connection_mode)
self._shapes = {}

4
examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py
View File

@@ -40,7 +40,9 @@ class KukaCamGymEnv(gym.Env):
self.terminated = 0
self._p = p
if self._renders:
p.connect(p.GUI)
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
p.connect(p.GUI)
p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
else:
p.connect(p.DIRECT)

2
examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py
View File

@@ -37,7 +37,7 @@ class KukaGymEnv(gym.Env):
self.terminated = 0
self._p = p
if self._renders:
cid = -1 #p.connect(p.SHARED_MEMORY)
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
cid = p.connect(p.GUI)
p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])