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huawei-noah / SMARTS

Scalable Multi-Agent RL Training School for Autonomous Driving
MIT License
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Investigate Physics Performance: Move Away from Pybullet #46

Closed Gamenot closed 3 years ago

Gamenot commented 4 years ago

@iman512003 Please clarify the approach to take with this.

The current pybullet physics engine use takes up a bit too much of the simulation step between collision processing and physics simulation step.

image

Current plan: Move to a 2D physics model to improve performance

Gamenot commented 4 years ago

@Gamenot

iman512003 commented 4 years ago

1) I have made the following changes to the physics and it reduced from 19% to 6% percent.

client.setPhysicsEngineParameter(reportSolverAnalytics=1,numSolverIterations=10,solverResidualThreshold=0.001,numSubSteps=5,fixedTimeStep=0.1)

yyy

2) I have an idea to use a simple 2D dynamics and then reset the position of the vehicle using bullet this way with minimal changes to smart.py we can test whether it can help or not.