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pybullet_envs.deep_mimic: use getLinkStates for faster 'getReward'

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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
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9
examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py
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@@ -12,6 +12,7 @@ from pybullet_envs.deep_mimic.learning.rl_world import RLWorld
from pybullet_utils.logger import Logger
from pybullet_envs.deep_mimic.testrl import update_world, update_timestep, build_world
import pybullet_utils.mpi_util as MPIUtil
from mpi4py import MPI
args = []
world = None
@@ -20,9 +21,15 @@ world = None
def run():
global update_timestep
global world
rank = MPI.COMM_WORLD.Get_rank()
name = "timings"+str(rank)+".json"
slot = world.env._pybullet_client.startStateLogging(world.env._pybullet_client.STATE_LOGGING_PROFILE_TIMINGS,name)
count=1000
done = False
while not (done):
count-=1
if (count<0):
world.env._pybullet_client.stopStateLogging(slot)
update_world(world, update_timestep)
return

12
examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py vendored
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@@ -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 = [