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

2017-09-11 09:23:14 -07:00
parent 16c58de272
commit f38b2cf14d
5 changed files with 16 additions and 8 deletions
--- a/examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py
+++ b/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)