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

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This commit is contained in:
Erwin Coumans
2017-09-11 09:23:14 -07:00
parent 16c58de272
commit f38b2cf14d
5 changed files with 16 additions and 8 deletions
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12
examples/pybullet/gym/pybullet_envs/env_bases.py
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@@ -39,13 +39,13 @@ class MJCFBaseBulletEnv(gym.Env):
def _reset(self):
if (self.physicsClientId<0):
if (self.isRender):
self.physicsClientId = p.connect(p.SHARED_MEMORY)
if (self.physicsClientId<0):
self.physicsClientId = p.connect(p.SHARED_MEMORY)
if (self.physicsClientId<0):
if (self.isRender):
self.physicsClientId = p.connect(p.GUI)
else:
self.physicsClientId = p.connect(p.DIRECT)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
else:
self.physicsClientId = p.connect(p.DIRECT)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
if self.scene is None:
self.scene = self.create_single_player_scene()