added syncronized render test script

examples/pybullet/examples/rendertest_sync.py

@@ -0,0 +1,139 @@
+#!/usr/bin/env python
+import os, logging, gym
+from baselines import logger
+from baselines.common import set_global_seeds
+from baselines.common.misc_util import boolean_flag
+from baselines import bench
+from baselines.a2c.a2c import learn
+from baselines.common.vec_env.subproc_vec_env import SubprocVecEnv
+from baselines.common.vec_env.vec_frame_stack import VecFrameStack
+import time
+
+import gym
+from gym import spaces
+import pybullet as p
+from itertools import cycle
+import numpy as np
+
+camTargetPos = [0,0,0]
+cameraUp = [0,0,1]
+cameraPos = [1,1,1]
+pitch = -10.0
+roll=0
+upAxisIndex = 2
+camDistance = 4
+pixelWidth = 320
+pixelHeight = 200
+nearPlane = 0.01
+farPlane = 100
+fov = 60
+
+
+class TestEnv(gym.Env):
+    def __init__(self,
+        renderer = 'tiny',  # ('tiny', 'egl', 'debug')
+        ):
+        self.action_space = spaces.Discrete(2)
+        self.iter = cycle(range(0,360,10))
+
+        # how we want to show
+        assert renderer in ('tiny', 'egl', 'debug','plugin')
+        self._renderer = renderer
+        self._render_width = 84
+        self._render_height = 84
+        # connecting
+        if self._renderer == "tiny":
+            optionstring='--width={} --height={}'.format(self._render_width,self._render_height)
+            p.connect(p.DIRECT, options=optionstring)
+
+        elif self._renderer == "egl":
+            optionstring='--width={} --height={}'.format(self._render_width,self._render_height)
+            optionstring += ' --window_backend=2 --render_device=0'
+            p.connect(p.GUI, options=optionstring)
+            p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+            p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MARK_PREVIEW,0)
+            p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0)
+            p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW,0)
+
+        elif self._renderer == "debug":
+          #print("Connection: SHARED_MEMORY")
+          #cid = p.connect(p.SHARED_MEMORY)
+          #if (cid<0):
+          cid =  p.connect(p.GUI)
+          p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
+
+        elif self._renderer == "plugin":
+            p.connect(p.DIRECT)
+            plugin_fn = os.path.join(p.__file__.split("bullet3")[0],"bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so")
+            plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
+            if plugin < 0:
+                print("\nPlugin Failed to load! Try installing via `pip install -e .`\n")
+                sys.exit()
+            print("plugin =",plugin)
+
+    def __del__(self):
+        p.disconnect()
+
+    def reset(self):
+        pass
+
+    def step(self,action):
+        p.stepSimulation()
+        start = time.time()
+        yaw = next(self.iter)
+        viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
+        aspect = pixelWidth / pixelHeight;
+        projectionMatrix = p.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
+        img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix,
+            projectionMatrix, shadow=1,lightDirection=[1,1,1],
+            renderer=p.ER_BULLET_HARDWARE_OPENGL)
+            #renderer=pybullet.ER_TINY_RENDERER)
+        self._observation = img_arr[2]
+        return np.array(self._observation), 0, 0, {}
+
+    def seed(self, seed=None):
+      pass
+
+def train(env_id, num_timesteps=300, seed=0,num_env=2,renderer='tiny'):
+    def make_env(rank):
+        def _thunk():
+            if env_id == "TestEnv":
+                env = TestEnv(renderer=renderer)  #gym.make(env_id)
+            else:
+                env = gym.make(env_id)
+            env.seed(seed + rank)
+            env = bench.Monitor(env, logger.get_dir() and os.path.join(logger.get_dir(), str(rank)))
+            gym.logger.setLevel(logging.WARN)
+            # only clip rewards when not evaluating
+            return env
+        return _thunk
+    set_global_seeds(seed)
+    env = SubprocVecEnv([make_env(i) for i in range(num_env)])
+
+    env.reset()
+    start = time.time()
+    for i in range(num_timesteps):
+        action = [env.action_space.sample() for _ in range(num_env)]
+        env.step(action)
+    stop = time.time()
+    duration = (stop - start)
+    if (duration):
+            fps = num_timesteps/duration
+    else:
+            fps=0
+    env.close()
+    return num_env, fps
+
+
+if __name__ == "__main__":
+    env_id = "TestEnv"
+    res = []
+
+    for renderer in ('plugin', 'tiny',  'egl'):
+        for i in (1,8):
+            tmp = train(env_id,num_env=i,renderer=renderer)
+            print(renderer,tmp)
+            res.append((renderer,tmp))
+    print()
+    for renderer,i in res:
+        print(renderer, i,i[0]*i[1])