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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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examples/pybullet/gym/pybullet_envs/env_bases.py
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@@ -39,7 +39,7 @@ class MJCFBaseBulletEnv(gym.Env):
def _reset(self):
if (self.physicsClientId<0):
self.physicsClientId = -1 #p.connect(p.SHARED_MEMORY)
self.physicsClientId = p.connect(p.SHARED_MEMORY)
if (self.physicsClientId<0):
if (self.isRender):
self.physicsClientId = p.connect(p.GUI)