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update mpi usage

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This commit is contained in:
Erwin Coumans
2019-02-01 19:20:08 -08:00
parent 176edeff1e
commit 2eace2f715
2 changed files with 8 additions and 5 deletions
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4
examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py
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@@ -40,8 +40,8 @@ def main():
# Command line arguments # Command line arguments
args = sys.argv[1:] args = sys.argv[1:]
enable_draw = False
world = build_world(args, enable_draw=False) world = build_world(args, enable_draw)
run() run()
shutdown() shutdown()

9
examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
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@@ -15,6 +15,7 @@ from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env import PyBulletDeepMim
import sys import sys
import random import random
update_timestep = 1./600.
def update_world(world, time_elapsed): def update_world(world, time_elapsed):
timeStep = 1./600. timeStep = 1./600.
@@ -43,8 +44,9 @@ args = sys.argv[1:]
def build_world(args, enable_draw, playback_speed=1): def build_world(args, enable_draw):
arg_parser = build_arg_parser(args) arg_parser = build_arg_parser(args)
print("enable_draw=",enable_draw)
env = PyBulletDeepMimicEnv(args, enable_draw) env = PyBulletDeepMimicEnv(args, enable_draw)
world = RLWorld(env, arg_parser) world = RLWorld(env, arg_parser)
#world.env.set_playback_speed(playback_speed) #world.env.set_playback_speed(playback_speed)
@@ -72,8 +74,9 @@ def build_world(args, enable_draw, playback_speed=1):
world.reset() world.reset()
return world return world
world = build_world(args, True) if __name__ == '__main__':
while (world.env._pybullet_client.isConnected()): world = build_world(args, True)
while (world.env._pybullet_client.isConnected()):
timeStep = 1./600. timeStep = 1./600.
update_world(world, timeStep) update_world(world, timeStep)