Merge remote-tracking branch 'bp/master'
This commit is contained in:
erwincoumans
146
examples/pybullet/examples/rendertest.py
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146
examples/pybullet/examples/rendertest.py
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#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
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#otherwise use testrender.py (slower but compatible without numpy)
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#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
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import os
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import sys
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import time
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import itertools
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import subprocess
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import numpy as np
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import pybullet
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from multiprocessing import Process
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camTargetPos = [0,0,0]
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cameraUp = [0,0,1]
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cameraPos = [1,1,1]
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pitch = -10.0
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roll=0
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upAxisIndex = 2
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camDistance = 4
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pixelWidth = 84 # 320
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pixelHeight = 84 # 200
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nearPlane = 0.01
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farPlane = 100
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fov = 60
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import matplotlib.pyplot as plt
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class BulletSim():
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def __init__(self, connection_mode, *argv):
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self.connection_mode = connection_mode
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self.argv = argv
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def __enter__(self):
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print("connecting")
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optionstring='--width={} --height={}'.format(pixelWidth,pixelHeight)
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optionstring += ' --window_backend=2 --render_device=0'
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print(self.connection_mode, optionstring,*self.argv)
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cid = pybullet.connect(self.connection_mode, options=optionstring,*self.argv)
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if cid < 0:
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raise ValueError
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print("connected")
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI,0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SEGMENTATION_MARK_PREVIEW,0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RGB_BUFFER_PREVIEW,0)
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pybullet.resetSimulation()
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pybullet.loadURDF("plane.urdf",[0,0,-1])
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pybullet.loadURDF("r2d2.urdf")
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pybullet.loadURDF("duck_vhacd.urdf")
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pybullet.setGravity(0,0,-10)
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def __exit__(self,*_,**__):
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pybullet.disconnect()
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def test(num_runs=300, shadow=1, log=True, plot=False):
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if log:
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logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings")
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if plot:
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plt.ion()
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img = np.random.rand(200, 320)
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#img = [tandard_normal((50,100))
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image = plt.imshow(img,interpolation='none',animated=True,label="blah")
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ax = plt.gca()
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times = np.zeros(num_runs)
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yaw_gen = itertools.cycle(range(0,360,10))
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for i, yaw in zip(range(num_runs),yaw_gen):
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pybullet.stepSimulation()
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start = time.time()
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viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
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aspect = pixelWidth / pixelHeight;
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projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
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img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,
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projectionMatrix, shadow=shadow,lightDirection=[1,1,1],
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renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
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#renderer=pybullet.ER_TINY_RENDERER)
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stop = time.time()
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duration = (stop - start)
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if (duration):
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fps = 1./duration
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#print("fps=",fps)
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else:
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fps=0
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#print("fps=",fps)
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#print("duraction=",duration)
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#print("fps=",fps)
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times[i] = fps
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if plot:
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rgb = img_arr[2]
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image.set_data(rgb)#np_img_arr)
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ax.plot([0])
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#plt.draw()
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#plt.show()
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plt.pause(0.01)
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mean_time = float(np.mean(times))
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print("mean: {0} for {1} runs".format(mean_time, num_runs))
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print("")
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if log:
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pybullet.stopStateLogging(logId)
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return mean_time
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if __name__ == "__main__":
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res = []
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with BulletSim(pybullet.DIRECT):
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print("\nTesting DIRECT")
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mean_time = test(log=False,plot=True)
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res.append(("tiny",mean_time))
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with BulletSim(pybullet.DIRECT):
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plugin_fn = os.path.join(pybullet.__file__.split("bullet3")[0],"bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so")
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plugin = pybullet.loadPlugin(plugin_fn,"_tinyRendererPlugin")
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if plugin < 0:
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print("\nPlugin Failed to load!\n")
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sys.exit()
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print("\nTesting DIRECT+OpenGL")
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mean_time = test(log=True)
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res.append(("plugin",mean_time))
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with BulletSim(pybullet.GUI):
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print("\nTesting GUI")
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mean_time = test(log=False)
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res.append(("egl",mean_time))
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print()
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print("rendertest.py")
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print("back nenv fps fps_tot")
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for r in res:
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print(r[0],"\t",1,round(r[1]),"\t",round(r[1]))
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142
examples/pybullet/examples/rendertest_sync.py
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142
examples/pybullet/examples/rendertest_sync.py
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#!/usr/bin/env python
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import os, logging, gym
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from baselines import logger
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from baselines.common import set_global_seeds
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from baselines.common.misc_util import boolean_flag
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from baselines import bench
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from baselines.a2c.a2c import learn
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from baselines.common.vec_env.subproc_vec_env import SubprocVecEnv
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from baselines.common.vec_env.vec_frame_stack import VecFrameStack
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import time
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import gym
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from gym import spaces
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import pybullet as p
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from itertools import cycle
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import numpy as np
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camTargetPos = [0,0,0]
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cameraUp = [0,0,1]
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cameraPos = [1,1,1]
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pitch = -10.0
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roll=0
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upAxisIndex = 2
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camDistance = 4
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pixelWidth = 320
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pixelHeight = 200
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nearPlane = 0.01
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farPlane = 100
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fov = 60
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class TestEnv(gym.Env):
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def __init__(self,
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renderer = 'tiny', # ('tiny', 'egl', 'debug')
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):
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self.action_space = spaces.Discrete(2)
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self.iter = cycle(range(0,360,10))
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# how we want to show
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assert renderer in ('tiny', 'egl', 'debug','plugin')
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self._renderer = renderer
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self._render_width = 84
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self._render_height = 84
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# connecting
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if self._renderer == "tiny" or self._renderer == "plugin":
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optionstring='--width={} --height={}'.format(self._render_width,self._render_height)
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p.connect(p.DIRECT, options=optionstring)
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if self._renderer == "plugin":
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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")
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plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
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if plugin < 0:
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print("\nPlugin Failed to load! Try installing via `pip install -e .`\n")
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sys.exit()
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print("plugin =",plugin)
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elif self._renderer == "egl":
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optionstring='--width={} --height={}'.format(self._render_width,self._render_height)
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optionstring += ' --window_backend=2 --render_device=0'
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p.connect(p.GUI, options=optionstring)
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elif self._renderer == "debug":
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#print("Connection: SHARED_MEMORY")
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#cid = p.connect(p.SHARED_MEMORY)
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#if (cid<0):
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cid = p.connect(p.GUI)
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p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
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p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
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p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MARK_PREVIEW,0)
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p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0)
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p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW,0)
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def __del__(self):
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p.disconnect()
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def reset(self):
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pass
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def step(self,action):
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p.stepSimulation()
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start = time.time()
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yaw = next(self.iter)
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viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
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aspect = pixelWidth / pixelHeight;
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projectionMatrix = p.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
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img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix,
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projectionMatrix, shadow=1,lightDirection=[1,1,1],
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renderer=p.ER_BULLET_HARDWARE_OPENGL)
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#renderer=pybullet.ER_TINY_RENDERER)
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self._observation = img_arr[2]
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return np.array(self._observation), 0, 0, {}
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def seed(self, seed=None):
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pass
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def train(env_id, num_timesteps=300, seed=0,num_env=2,renderer='tiny'):
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def make_env(rank):
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def _thunk():
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if env_id == "TestEnv":
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env = TestEnv(renderer=renderer) #gym.make(env_id)
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else:
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env = gym.make(env_id)
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env.seed(seed + rank)
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env = bench.Monitor(env, logger.get_dir() and os.path.join(logger.get_dir(), str(rank)))
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gym.logger.setLevel(logging.WARN)
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# only clip rewards when not evaluating
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return env
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return _thunk
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set_global_seeds(seed)
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env = SubprocVecEnv([make_env(i) for i in range(num_env)])
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env.reset()
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start = time.time()
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for i in range(num_timesteps):
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action = [env.action_space.sample() for _ in range(num_env)]
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env.step(action)
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stop = time.time()
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duration = (stop - start)
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if (duration):
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fps = num_timesteps/duration
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else:
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fps=0
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env.close()
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return num_env, fps
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if __name__ == "__main__":
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env_id = "TestEnv"
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res = []
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for renderer in ('tiny','plugin', 'egl'):
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for i in (1,8):
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tmp = train(env_id,num_env=i,renderer=renderer)
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print(renderer,tmp)
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res.append((renderer,tmp))
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print()
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print("rendertest_sync.py")
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print("back nenv fps fps_tot")
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for renderer,i in res:
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print(renderer,'\t', i[0],round(i[1]),'\t',round(i[0]*i[1]))
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@@ -105,7 +105,7 @@ class Pusher(MJCFBasedRobot):
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self.shoulder_lift_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.elbow_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.forearm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.wrist_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.wrist_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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@@ -115,7 +115,7 @@ class Pusher(MJCFBasedRobot):
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self.shoulder_lift_joint.set_motor_torque(0.05 * float(np.clip(a[1], -1, +1)))
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self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[2], -1, +1)))
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self.elbow_flex_joint.set_motor_torque(0.05 * float(np.clip(a[3], -1, +1)))
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self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1)))
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self.forearm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1)))
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self.wrist_flex_joint.set_motor_torque(0.05 * float(np.clip(a[5], -1, +1)))
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self.wrist_roll_joint.set_motor_torque(0.05 * float(np.clip(a[6], -1, +1)))
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@@ -165,7 +165,7 @@ class Striker(MJCFBasedRobot):
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self.shoulder_lift_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.elbow_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.forearm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.wrist_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.wrist_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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@@ -205,7 +205,7 @@ class Striker(MJCFBasedRobot):
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self.shoulder_lift_joint.set_motor_torque(0.05 * float(np.clip(a[1], -1, +1)))
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self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[2], -1, +1)))
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self.elbow_flex_joint.set_motor_torque(0.05 * float(np.clip(a[3], -1, +1)))
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self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1)))
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self.forearm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1)))
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self.wrist_flex_joint.set_motor_torque(0.05 * float(np.clip(a[5], -1, +1)))
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self.wrist_roll_joint.set_motor_torque(0.05 * float(np.clip(a[6], -1, +1)))
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@@ -254,7 +254,7 @@ class Thrower(MJCFBasedRobot):
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self.shoulder_lift_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.elbow_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.forearm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.wrist_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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self.wrist_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
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@@ -294,7 +294,7 @@ class Thrower(MJCFBasedRobot):
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self.shoulder_lift_joint.set_motor_torque(0.05 * float(np.clip(a[1], -1, +1)))
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self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[2], -1, +1)))
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self.elbow_flex_joint.set_motor_torque(0.05 * float(np.clip(a[3], -1, +1)))
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self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1)))
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self.forearm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1)))
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self.wrist_flex_joint.set_motor_torque(0.05 * float(np.clip(a[5], -1, +1)))
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self.wrist_roll_joint.set_motor_torque(0.05 * float(np.clip(a[6], -1, +1)))
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