def ExploreWorker(rank, num_processes, childPipe, args):
print("hi:", rank, " out of ", num_processes)
import pybullet as op1
import pybullet_data_local as pd
logName = ""
p1 = 0
n = 0
space = 2
simulations = []
sims_per_worker = 10
offsetY = rank * space
while True:
n += 1
try:
# Only block for short times to have keyboard exceptions be raised.
if not childPipe.poll(0.0001):
continue
message, payload = childPipe.recv()
except (EOFError, KeyboardInterrupt):
break
if message == _RESET:
if (useGUI):
p1 = bullet_client.BulletClient(op1.GUI)
else:
p1 = bullet_client.BulletClient(op1.DIRECT)
p1.setTimeStep(timeStep)
p1.setPhysicsEngineParameter(numSolverIterations=8)
p1.setPhysicsEngineParameter(minimumSolverIslandSize=100)
p1.configureDebugVisualizer(p1.COV_ENABLE_Y_AXIS_UP, 1)
p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING, 0)
p1.setAdditionalSearchPath(pd.getDataPath())
p1.setGravity(0, -9.8, 0)
logName = str("batchsim") + str(rank)
for j in range(3):
offsetX = 0 #-sims_per_worker/2.0*space
for i in range(sims_per_worker):
offset = [offsetX, 0, offsetY]
sim = panda_sim.PandaSimAuto(p1, offset)
simulations.append(sim)
offsetX += space
offsetY += space
childPipe.send(["reset ok"])
p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING, 1)
for i in range(100):
p1.stepSimulation()
logId = p1.startStateLogging(op1.STATE_LOGGING_PROFILE_TIMINGS,
logName)
continue
if message == _EXPLORE:
sum_rewards = rank
if useGUI:
numSteps = int(20000)
else:
numSteps = int(5)
for i in range(numSteps):
for s in simulations:
s.step()
p1.stepSimulation()
#print("logId=",logId)
#print("numSteps=",numSteps)
childPipe.send([sum_rewards])
continue
if message == _CLOSE:
p1.stopStateLogging(logId)
childPipe.send(["close ok"])
break
childPipe.close()
if createVideo:
p.connect(p.GUI, options="--mp4=\"pybullet_grasp.mp4\", --mp4fps=240")
else:
p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
p.resetDebugVisualizerCamera(cameraDistance=1.3, cameraYaw=38, cameraPitch=-22, cameraTargetPosition=[0.35,-0.13,0])
p.setAdditionalSearchPath(pd.getDataPath())
timeStep=1./120.#240.
p.setTimeStep(timeStep)
p.setGravity(0,-9.8,0)
panda = panda_sim.PandaSimAuto(p,[0,0,0])
logId = panda.bullet_client.startStateLogging(panda.bullet_client.STATE_LOGGING_PROFILE_TIMINGS, "log.json")
panda.bullet_client.submitProfileTiming("start")
for i in range (100000):
panda.bullet_client.submitProfileTiming("full_step")
panda.step()
p.stepSimulation()
if createVideo:
p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
time.sleep(timeStep)
panda.bullet_client.submitProfileTiming()
panda.bullet_client.submitProfileTiming()
panda.bullet_client.stopStateLogging(logId)