63 lines
1.3 KiB
Python
63 lines
1.3 KiB
Python
import numpy as np
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import sys
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import os
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import inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(os.path.dirname(currentdir))
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os.sys.path.insert(0, parentdir)
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print("parentdir=", parentdir)
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from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env import PyBulletDeepMimicEnv
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from pybullet_envs.deep_mimic.learning.rl_world import RLWorld
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from pybullet_utils.logger import Logger
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from pybullet_envs.deep_mimic.testrl import update_world, update_timestep, build_world
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import pybullet_utils.mpi_util as MPIUtil
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from mpi4py import MPI
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args = []
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world = None
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def run():
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global update_timestep
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global world
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rank = MPI.COMM_WORLD.Get_rank()
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name = "timings"+str(rank)+".json"
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slot = world.env._pybullet_client.startStateLogging(world.env._pybullet_client.STATE_LOGGING_PROFILE_TIMINGS,name)
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count=1000
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done = False
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while not (done):
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count-=1
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if (count<0):
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world.env._pybullet_client.stopStateLogging(slot)
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update_world(world, update_timestep)
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return
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def shutdown():
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global world
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Logger.print2('Shutting down...')
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world.shutdown()
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return
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def main():
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global args
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global world
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# Command line arguments
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args = sys.argv[1:]
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enable_draw = False
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world = build_world(args, enable_draw)
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run()
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shutdown()
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return
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if __name__ == '__main__':
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main()
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