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add mpi_run version (not working yet)

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This commit is contained in:
Erwin Coumans
2019-02-01 17:57:31 -08:00
parent 6c42cd3e1b
commit 176edeff1e
4 changed files with 118 additions and 34 deletions
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75
examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
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@@ -15,6 +15,18 @@ from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env import PyBulletDeepMim
import sys
import random
def update_world(world, time_elapsed):
timeStep = 1./600.
world.update(timeStep)
reward = world.env.calc_reward(agent_id=0)
#print("reward=",reward)
end_episode = world.env.is_episode_end()
if (end_episode):
world.end_episode()
world.reset()
return
def build_arg_parser(args):
arg_parser = ArgParser()
arg_parser.load_args(args)
@@ -28,43 +40,40 @@ def build_arg_parser(args):
return arg_parser
args = sys.argv[1:]
arg_parser = build_arg_parser(args)
render=False#True
env = PyBulletDeepMimicEnv (args,render)
world = RLWorld(env, arg_parser)
motion_file = arg_parser.parse_string("motion_file")
print("motion_file=",motion_file)
bodies = arg_parser.parse_ints("fall_contact_bodies")
print("bodies=",bodies)
int_output_path = arg_parser.parse_string("int_output_path")
print("int_output_path=",int_output_path)
agent_files = pybullet_data.getDataPath()+"/"+arg_parser.parse_string("agent_files")
def build_world(args, enable_draw, playback_speed=1):
arg_parser = build_arg_parser(args)
env = PyBulletDeepMimicEnv(args, enable_draw)
world = RLWorld(env, arg_parser)
#world.env.set_playback_speed(playback_speed)
AGENT_TYPE_KEY = "AgentType"
motion_file = arg_parser.parse_string("motion_file")
print("motion_file=",motion_file)
bodies = arg_parser.parse_ints("fall_contact_bodies")
print("bodies=",bodies)
int_output_path = arg_parser.parse_string("int_output_path")
print("int_output_path=",int_output_path)
agent_files = pybullet_data.getDataPath()+"/"+arg_parser.parse_string("agent_files")
print("agent_file=",agent_files)
with open(agent_files) as data_file:
json_data = json.load(data_file)
print("json_data=",json_data)
assert AGENT_TYPE_KEY in json_data
agent_type = json_data[AGENT_TYPE_KEY]
print("agent_type=",agent_type)
agent = PPOAgent(world, id, json_data)
AGENT_TYPE_KEY = "AgentType"
print("agent_file=",agent_files)
with open(agent_files) as data_file:
json_data = json.load(data_file)
print("json_data=",json_data)
assert AGENT_TYPE_KEY in json_data
agent_type = json_data[AGENT_TYPE_KEY]
print("agent_type=",agent_type)
agent = PPOAgent(world, id, json_data)
agent.set_enable_training(True)
world.reset()
while (world.env._pybullet_client.isConnected()):
timeStep = 1./600.
world.update(timeStep)
reward = world.env.calc_reward(agent_id=0)
#print("reward=",reward)
end_episode = world.env.is_episode_end()
if (end_episode):
world.end_episode()
agent.set_enable_training(True)
world.reset()
return world
world = build_world(args, True)
while (world.env._pybullet_client.isConnected()):
timeStep = 1./600.
update_world(world, timeStep)