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abb3f94 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 | """
This is an example for rendering on multiple GPUs in parallel,
using the multiprocessing module.
"""
from multiprocessing import set_start_method
from time import perf_counter
from mujoco_py import load_model_from_path, MjRenderPool
def main():
# Image size for rendering
IMAGE_WIDTH = 255
IMAGE_HEIGHT = 255
# Number of frames to render per sim
N_FRAMES = 100
# Number of sims to run in parallel (assumes one per GPU),
# so N_SIMS=2 assumes there are 2 GPUs available.
N_SIMS = 2
pool = MjRenderPool(load_model_from_path("xmls/tosser.xml"), device_ids=N_SIMS)
print("main(): start benchmarking", flush=True)
start_t = perf_counter()
for _ in range(N_FRAMES):
pool.render(IMAGE_WIDTH, IMAGE_HEIGHT)
t = perf_counter() - start_t
print("Completed in %.1fs: %.3fms, %.1f FPS" % (
t, t / (N_FRAMES * N_SIMS) * 1000, (N_FRAMES * N_SIMS) / t),
flush=True)
print("main(): finished", flush=True)
if __name__ == "__main__":
set_start_method('spawn')
main()
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