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

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

@@ -8,6 +8,8 @@ class BulletClient(object):
 
   def __init__(self, connection_mode=pybullet.DIRECT):
     """Create a simulation and connect to it."""
+    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/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()

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -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):
+				if (self.isRender):
 					self.physicsClientId = p.connect(p.GUI)
 				else:
 					self.physicsClientId = p.connect(p.DIRECT)
-		#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+		p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
   
 		if self.scene is None:
 			self.scene = self.create_single_player_scene()

setup.py

@@ -467,6 +467,7 @@ setup(
                    'Programming Language :: Python :: 3.5',
                    'Programming Language :: Python :: 3.6',
                    'Topic :: Games/Entertainment :: Simulation',
+                   'Topic :: Scientific/Engineering :: Artificial Intelligence',
                    'Framework :: Robot Framework'],
     package_dir = { '': 'examples/pybullet/gym'},
     packages=[x for x in find_packages('examples/pybullet/gym')],