Merge pull request #3208 from erwincoumans/master

allow to specify hostName

6 files changed, 27 insertions, 5 deletions

diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index 4ba413ef5..eb4e0c76f 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -123,6 +123,7 @@ struct GUIHelperInterface
 	virtual void dumpFramesToVideo(const char* mp4FileName){};
 	virtual void drawDebugDrawerLines(){}
 	virtual void clearLines(){}
+	virtual bool isRemoteVisualizer() { return false; }
 };
 
 ///the DummyGUIHelper does nothing, so we can test the examples without GUI/graphics (in 'console mode')
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 172c0030f..3a33be95d 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -2156,8 +2156,8 @@ void PhysicsServerExample::updateGraphics()
 
 			m_multiThreadedHelper->m_childGuiHelper->setVisualizerFlag(m_multiThreadedHelper->m_visualizerFlag, m_multiThreadedHelper->m_visualizerEnable);
 
-			//postpone the release until an actual frame is rendered
-			if (flag == COV_ENABLE_SINGLE_STEP_RENDERING)
+			//postpone the release until an actual frame is rendered, unless it is a remote visualizer
+			if ((!m_multiThreadedHelper->m_childGuiHelper->isRemoteVisualizer()) && flag == COV_ENABLE_SINGLE_STEP_RENDERING)
 			{
 				m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperSetVisualizerFlagCheckRenderedFrame);
 			}
diff --git a/examples/SharedMemory/RemoteGUIHelperTCP.h b/examples/SharedMemory/RemoteGUIHelperTCP.h
index 606eab581..8a4458ee2 100644
--- a/examples/SharedMemory/RemoteGUIHelperTCP.h
+++ b/examples/SharedMemory/RemoteGUIHelperTCP.h
@@ -70,6 +70,7 @@ struct RemoteGUIHelperTCP : public GUIHelperInterface
 	virtual void removeAllUserDebugItems();
 
 	int uploadData(const unsigned char* data, int sizeInBytes, int slot);
+	virtual bool isRemoteVisualizer() { return true; }
 };
 
 #endif  //REMOTE_HELPER_TCP_H
diff --git a/examples/pybullet/examples/inverse_kinematics_husky_kuka.py b/examples/pybullet/examples/inverse_kinematics_husky_kuka.py
index 2d0dce2f6..bb0e26eaa 100644
--- a/examples/pybullet/examples/inverse_kinematics_husky_kuka.py
+++ b/examples/pybullet/examples/inverse_kinematics_husky_kuka.py
@@ -10,7 +10,12 @@ clid = p.connect(p.SHARED_MEMORY)
 
 if (clid < 0):
   p.connect(p.GUI)
+
+p.setPhysicsEngineParameter(enableConeFriction=0)
+
 p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+
 p.loadURDF("plane.urdf", [0, 0, -0.3])
 husky = p.loadURDF("husky/husky.urdf", [0.290388, 0.329902, -0.310270],
                    [0.002328, -0.000984, 0.996491, 0.083659])
@@ -62,7 +67,7 @@ useNullSpace = 0
 useOrientation = 0
 #If we set useSimulation=0, it sets the arm pose to be the IK result directly without using dynamic control.
 #This can be used to test the IK result accuracy.
-useSimulation = 0
+useSimulation = 1
 useRealTimeSimulation = 1
 p.setRealTimeSimulation(useRealTimeSimulation)
 #trailDuration is duration (in seconds) after debug lines will be removed automatically
diff --git a/examples/pybullet/gym/pybullet_utils/bullet_client.py b/examples/pybullet/gym/pybullet_utils/bullet_client.py
index 0eb09f8a2..f4995d3b5 100644
--- a/examples/pybullet/gym/pybullet_utils/bullet_client.py
+++ b/examples/pybullet/gym/pybullet_utils/bullet_client.py
@@ -9,7 +9,7 @@ import pybullet
 class BulletClient(object):
   """A wrapper for pybullet to manage different clients."""
 
-  def __init__(self, connection_mode=None):
+  def __init__(self, connection_mode=None, hostName=None):
     """Creates a Bullet client and connects to a simulation.
 
     Args:
@@ -27,7 +27,10 @@ class BulletClient(object):
         return
       else:
         connection_mode = pybullet.DIRECT
-    self._client = pybullet.connect(connection_mode)
+    if hostName is None:
+        self._client = pybullet.connect(connection_mode)
+    else:
+        self._client = pybullet.connect(connection_mode, hostName=hostName)
 
   def __del__(self):
     """Clean up connection if not already done."""
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 759346e36..56b5f7511 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -403,6 +403,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 
 		if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|is", kwlist1, &method, &key, &options))
 		{
+			PyErr_Clear();
 			int port = -1;
 			if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|sis", kwlist2, &method, &hostName, &port, &options))
 			{
@@ -11641,6 +11642,8 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 					free(upperLimits);
 					free(jointRanges);
 					free(restPoses);
+					free(positions);
+					free(indices);
 					return NULL;
 				}
 				else
@@ -11761,12 +11764,16 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 					}
 
 					free(ikOutPutJointPos);
+					free(positions);
+					free(indices);
 					return pylist;
 				}
 				else
 				{
 					PyErr_SetString(SpamError,
 						"Error in calculateInverseKinematics");
+					free(positions);
+					free(indices);
 					return NULL;
 				}
 			}
@@ -11774,8 +11781,13 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 			{
 				PyErr_SetString(SpamError,
 					"calculateInverseKinematics couldn't extract position vector3");
+				free(positions);
+				free(indices);
 				return NULL;
 			}
+
+			free(positions);
+			free(indices);
 		}
 	}