use SHARED_MEMORY as first connection attempt, to make visualization/OpenGL rendering easier

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

@@ -8,7 +8,9 @@ class BulletClient(object):
 
   def __init__(self, connection_mode=pybullet.DIRECT):
     """Create a simulation and connect to it."""
-    self._client = pybullet.connect(connection_mode)
+    self._client = pybullet.connect(pybullet.SHARED_MEMORY)
+    if(self._client<0):
+      self._client = pybullet.connect(connection_mode)
     self._shapes = {}
 
   def __del__(self):

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

@@ -37,7 +37,9 @@ class KukaGymEnv(gym.Env):
     self.terminated = 0
     self._p = p
     if self._renders:
-      p.connect(p.GUI)
+      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])
     else:
       p.connect(p.DIRECT)

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

@@ -166,6 +166,9 @@ class MinitaurBulletEnv(gym.Env):
   def set_env_randomizer(self, env_randomizer):
     self._env_randomizer = env_randomizer
 
+  def configure(self, args):
+    self._args = args
+
   def _reset(self):
     if self._hard_reset:
       self._pybullet_client.resetSimulation()