Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

pybullet_envs.deep_mimic: use getLinkStates for faster 'getReward'

Browse Source 
pybullet_envs.deep_mimic: add profile timers for each thread to optimize training
This commit is contained in:
Erwin Coumans
2019-07-22 17:18:41 -07:00
parent 66f71256cf
commit b433e07d33
2 changed files with 19 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py vendored
View File

@@ -341,7 +341,7 @@ class HumanoidStablePD(object):
#static char* kwlist[] = { "bodyUniqueId",
#"jointIndices",
#"controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "maxVelocities", "physicsClientId", NULL };
self._pybullet_client.setJointMotorControlMultiDofArray(self._sim_model,
indices,
self._pybullet_client.STABLE_PD_CONTROL,
@@ -822,6 +822,9 @@ class HumanoidStablePD(object):
jointIndices = range(num_joints)
simJointStates = self._pybullet_client.getJointStatesMultiDof(self._sim_model, jointIndices)
kinJointStates = self._pybullet_client.getJointStatesMultiDof(self._kin_model, jointIndices)
if useArray:
linkStatesSim = self._pybullet_client.getLinkStates(self._sim_model, jointIndices)
linkStatesKin = self._pybullet_client.getLinkStates(self._kin_model, jointIndices)
for j in range(num_joints):
curr_pose_err = 0
curr_vel_err = 0
@@ -859,10 +862,15 @@ class HumanoidStablePD(object):
vel_err += w * curr_vel_err
is_end_eff = j in self._end_effectors
if is_end_eff:
linkStateSim = self._pybullet_client.getLinkState(self._sim_model, j)
linkStateKin = self._pybullet_client.getLinkState(self._kin_model, j)
if useArray:
linkStateSim = linkStatesSim[j]
linkStateKin = linkStatesKin[j]
else:
linkStateSim = self._pybullet_client.getLinkState(self._sim_model, j)
linkStateKin = self._pybullet_client.getLinkState(self._kin_model, j)
linkPosSim = linkStateSim[0]
linkPosKin = linkStateKin[0]
linkPosDiff = [