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softbankrobotics-research / qibullet

Bullet simulation for SoftBank Robotics robots
Apache License 2.0
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How to connect via SHARED_MEMORY? #46

Closed LaiYanKai closed 4 years ago

LaiYanKai commented 4 years ago

Hi, I've just started Pybullet and Qibullet today, so this may be a silly question: how to connect to the pybullet GUI from another process (nao script?)

I tried this on one py script and managed to run it with the joint parameter example to move the joints for the NAO robot:

CLIENT_ID = simulation_manager.launchSimulation(gui=True, use_shared_memory = True)

However, when I tried to connect to this GUI from another py script, the following keeps returning -1, which means it can't connect:

pybullet.connect(pybullet.SHARED_MEMORY)

I read from the documentation that shared_memory is a feature? Does this mean that it is not supported?

I'm running on Python 2.7, Ubuntu 18.04.5...

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mbusy commented 4 years ago

Hi,

I assume that you're refering to that part of the wiki?

The use_shared_memory parameter will only be taken into account when gui=False (see that block of code). The goal of the use_shared_memory parameter is to allow you to parallelize the motion servers of headless simulation instances (without a GUI), and therefore to run them faster (check the plot and the code samples related to that feature in the wiki).

What you're trying to do seems different, from what I understand you're looking to connect a new client to an already existing pybullet server (with a GUI). Am I correct ? That is currently not proposed in qiBullet, but it's definitely something doable, either by using the pybullet API directly, or by modifying the launchSimulation method of the SimulationManager class in qiBullet. This could even be introduced as a new feature

LaiYanKai commented 4 years ago

Hi, I didn't know the wiki existed, thanks for sharing. Also, thanks for sharing the code part. Just as I thought, it could be headless at the moment to speed up testing. I will modify the code as suggested, it's easier haha. I would close this issue at this moment, because it shouldn't be too difficult to do it. I would try it out some time next week.

Thanks for the informative answer! :D