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examples/pybullet/gym/pybullet_robots/panda/batchsim3_grasp.py

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+import os
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0, parentdir)
+
+from pybullet_utils import bullet_client
+import panda_sim_grasp as panda_sim
+
+
+import time
+
+useGUI = True#False
+timeStep = 1./240.
+
+# Importing the libraries
+import os
+import time
+import multiprocessing as mp
+from multiprocessing import Process, Pipe
+
+pandaEndEffectorIndex = 11 #8
+pandaNumDofs = 7
+
+
+_RESET = 1
+_CLOSE = 2
+_EXPLORE = 3
+
+
+def ExploreWorker(rank, num_processes, childPipe, args):
+  print("hi:",rank, " out of ", num_processes)  
+  import pybullet as op1
+  import pybullet_data as pd
+  logName=""
+  p1=0
+  n = 0
+  space = 2 
+  simulations=[]
+  sims_per_worker = 10
+  
+  offsetY = rank*space
+  while True:
+    n += 1
+    try:
+      # Only block for short times to have keyboard exceptions be raised.
+      if not childPipe.poll(0.0001):
+        continue
+      message, payload = childPipe.recv()
+    except (EOFError, KeyboardInterrupt):
+      break
+    if message == _RESET:
+      if (useGUI):
+        p1 = bullet_client.BulletClient(op1.GUI)
+      else:
+        p1 = bullet_client.BulletClient(op1.DIRECT)
+      p1.setTimeStep(timeStep)
+      
+      p1.setPhysicsEngineParameter(numSolverIterations=8)
+      p1.setPhysicsEngineParameter(minimumSolverIslandSize=100)
+      p1.configureDebugVisualizer(p1.COV_ENABLE_Y_AXIS_UP,1)
+      p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,0)
+      p1.setAdditionalSearchPath(pd.getDataPath())
+      p1.setGravity(0,-9.8,0)
+      logName = str("batchsim")+str(rank)
+      for j in range (3):
+        offsetX = 0#-sims_per_worker/2.0*space
+        for i in range (sims_per_worker):
+          offset=[offsetX,0, offsetY]
+          sim = panda_sim.PandaSimAuto(p1, offset)
+          simulations.append(sim)
+          offsetX += space 
+        offsetY += space 
+      childPipe.send(["reset ok"])
+      p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,1)
+      for i in range (100):
+        p1.stepSimulation()
+      
+      logId = p1.startStateLogging(op1.STATE_LOGGING_PROFILE_TIMINGS,logName)
+      continue
+    if message == _EXPLORE:
+      sum_rewards=rank
+      
+      if useGUI:
+        numSteps = int(20000)
+      else:
+        numSteps = int(5)
+      for i in range (numSteps):
+        for s in simulations:
+          s.step()
+        p1.stepSimulation()
+      #print("logId=",logId)
+      #print("numSteps=",numSteps)
+
+      childPipe.send([sum_rewards])
+      continue
+    if message == _CLOSE:
+      p1.stopStateLogging(logId)
+      childPipe.send(["close ok"])
+      break
+  childPipe.close()
+  
+
+if __name__ == "__main__":
+  mp.freeze_support()
+  if useGUI:
+    num_processes = 1
+  else:
+    num_processes = 12
+  processes = []
+  args=[0]*num_processes
+  
+  childPipes = []
+  parentPipes = []
+
+  for pr in range(num_processes):
+    parentPipe, childPipe = Pipe()
+    parentPipes.append(parentPipe)
+    childPipes.append(childPipe)
+
+  for rank in range(num_processes):
+    p = mp.Process(target=ExploreWorker, args=(rank, num_processes, childPipes[rank],  args))
+    p.start()
+    processes.append(p)
+      
+  
+  for parentPipe in parentPipes:
+    parentPipe.send([_RESET, "blaat"])
+  
+  positive_rewards = [0]*num_processes
+  for k in range(num_processes):
+    #print("reset msg=",parentPipes[k].recv()[0])
+    msg = parentPipes[k].recv()[0]
+  for parentPipe in parentPipes:
+    parentPipe.send([_EXPLORE, "blaat"])
+  
+  positive_rewards = [0]*num_processes
+  for k in range(num_processes):
+    positive_rewards[k] = parentPipes[k].recv()[0]
+    #print("positive_rewards=",positive_rewards[k])
+
+  for parentPipe in parentPipes:
+    parentPipe.send([_EXPLORE, "blaat"])
+  positive_rewards = [0]*num_processes
+  for k in range(num_processes):
+    positive_rewards[k] = parentPipes[k].recv()[0]
+    #print("positive_rewards=",positive_rewards[k])
+    msg = positive_rewards[k]
+
+  for parentPipe in parentPipes:
+    parentPipe.send([_EXPLORE, "blaat"])
+  
+  positive_rewards = [0]*num_processes
+  for k in range(num_processes):
+    positive_rewards[k] = parentPipes[k].recv()[0]
+    #print("positive_rewards=",positive_rewards[k])
+
+  
+  for parentPipe in parentPipes:
+    parentPipe.send([_CLOSE, "pay2"])
+  
+  for p in processes:
+    p.join()
+  
+  #now we merge the separate json files into a single one
+  fnameout = 'batchsim.json'
+  count = 0
+  outfile = open(fnameout, "w+")
+  outfile.writelines(["{\"traceEvents\":[\n"])
+  numFiles = num_processes
+  for num in range(numFiles):
+    print("num=",num)
+    fname = 'batchsim%d_0.json' % (num)
+    with open(fname) as infile:
+        for line in infile:
+          if "pid" in line:
+            line = line.replace('\"pid\":1', '\"pid\":'+str(num))
+            if num < (numFiles-1) and not "{}}," in line:
+              line = line.replace('{}}', '{}},')
+              print("line[",count,"]=",line)
+            outfile.write(line)
+          count += 1
+  print ("count=",count)
+  outfile.writelines(["],\n"])
+  outfile.writelines(["\"displayTimeUnit\": \"ns\"}\n"])
+  outfile.close()