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Server client option #32

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merged 2 commits into from
Apr 12, 2022
Merged

Server client option #32

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866d06f
add server option in pb clienet
anthonysimeonov Apr 12, 2022
18b29cf
checks for connection mode to include server options
anthonysimeonov Apr 12, 2022
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17 changes: 10 additions & 7 deletions src/airobot/utils/pb_util.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,8 @@

def create_pybullet_client(gui=True,
realtime=True,
opengl_render=True):
opengl_render=True,
server=False):
"""
Create a pybullet simulation client.

Expand All @@ -31,12 +32,13 @@ def create_pybullet_client(gui=True,
RGB images.
"""
if gui:
mode = p.GUI
mode = p.GUI_SERVER if server else p.GUI
else:
mode = p.DIRECT
mode = p.SHARED_MEMORY_SERVER if server else p.DIRECT
pb_client = BulletClient(connection_mode=mode,
realtime=realtime,
opengl_render=opengl_render)
opengl_render=opengl_render,
server=server)
pb_client.setAdditionalSearchPath(pybullet_data.getDataPath())
return pb_client

Expand All @@ -62,6 +64,7 @@ def __init__(self,
connection_mode=None,
realtime=False,
opengl_render=True,
server=False,
options=''):
self._in_realtime_mode = realtime
self.opengl_render = opengl_render
Expand All @@ -71,10 +74,10 @@ def __init__(self,
if self._client >= 0:
return
else:
connection_mode = p.DIRECT
connection_mode = p.SHARED_MEMORY_SERVER if server else p.DIRECT
self._client = p.connect(connection_mode, options=options)
is_linux = platform.system() == 'Linux'
if connection_mode == p.DIRECT and is_linux and opengl_render:
if connection_mode in [p.DIRECT, p.SHARED_MEMORY_SERVER] and is_linux and opengl_render:
airobot.log_info('Load in OpenGL!')
# # using the eglRendererPlugin (hardware OpenGL acceleration)
egl = pkgutil.get_loader('eglRenderer')
Expand All @@ -84,7 +87,7 @@ def __init__(self,
else:
p.loadPlugin("eglRendererPlugin",
physicsClientId=self._client)
self._gui_mode = connection_mode == p.GUI
self._gui_mode = connection_mode in [p.GUI, p.GUI_SERVER]
p.setGravity(0, 0, GRAVITY_CONST,
physicsClientId=self._client)
self.set_step_sim(not self._in_realtime_mode)
Expand Down