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

suppress shared memory connection warnings
add fallback from ER_BULLET_HARDWARE_OPENGL to TinyRenderer if not available

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -78,7 +78,7 @@ struct PhysicsClientSharedMemoryInternalData {
           m_hasLastServerStatus(false),
           m_sharedMemoryKey(SHARED_MEMORY_KEY),
           m_verboseOutput(false),
-		  m_timeOutInSeconds(1e30)
+		  m_timeOutInSeconds(5)
 	{}
 
     void processServerStatus();
@@ -311,7 +311,7 @@ bool PhysicsClientSharedMemory::connect() {
             m_data->m_isConnected = true;
         }
     } else {
-        b3Warning("Cannot connect to shared memory");
+        //b3Warning("Cannot connect to shared memory");
         return false;
     }
 #if 0

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -3541,7 +3541,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								}
 							}
 						 }
-
+                        bool handled = false;
+                        
                         if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
 						{
 
@@ -3551,14 +3552,19 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                                 segmentationMaskBuffer, numRequestedPixels,
                                                 startPixelIndex,width,height,&numPixelsCopied);
 
-							m_data->m_guiHelper->debugDisplayCameraImageData(viewMat,
+                            if (numPixelsCopied>0)
+                            {
+                                handled = true;
+                                m_data->m_guiHelper->debugDisplayCameraImageData(viewMat,
                                                 projMat,pixelRGBA,numRequestedPixels,
                                                 depthBuffer,numRequestedPixels,
                                                 0, numRequestedPixels,
                                                 startPixelIndex,width,height,&numPixelsCopied);
+                            }
 
 							
-						} else
+						}
+                        if (!handled)
 						{
 
                             if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)

examples/SharedMemory/PosixSharedMemory.cpp

@@ -91,7 +91,7 @@ void*   PosixSharedMemory::allocateSharedMemory(int key, int size,  bool allowCr
     int id = shmget((key_t) key, (size_t) size,flags);
     if (id < 0)
     {
-        b3Warning("shmget error");
+        //b3Warning("shmget error1");
     } else
     {
         btPointerCaster result;

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

@@ -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 = {}

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

@@ -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)

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

@@ -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])

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -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)

examples/pybullet/gym/pybullet_envs/examples/runServer.py

@@ -13,6 +13,7 @@ p.connect(p.GUI_SERVER)
 p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 while(1):
+	#this is a no-op command, to allow GUI updates on Mac OSX (main thread)
+	p.setPhysicsEngineParameter()
 	time.sleep(0.01)
-	p.getNumBodies()
 	

test/SharedMemory/test.c

@@ -258,6 +258,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
 			command = b3InitRequestCameraImage(sm);
 			
 			b3RequestCameraImageSetPixelResolution(command, width, height);
+            b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
 			statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		}
         
@@ -298,7 +299,10 @@ void testSharedMemory(b3PhysicsClientHandle sm)
             }
         }
         
-	}
+    } else
+    {
+        b3Warning("Cannot submit commands.\n");
+    }
 
 
 	b3DisconnectSharedMemory(sm);