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enable follow_rot to be set

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correct grab goal settings
enable different links for different goal types
This commit is contained in:
Bart Moyaers
2020-02-13 14:39:21 +01:00
parent 92231d9c3c
commit 541a145e2d
2 changed files with 12 additions and 8 deletions
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13
examples/pybullet/gym/pybullet_envs/deep_mimic/env/goals.py vendored
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@@ -64,8 +64,9 @@ class Strike(Goal):
distance_RB: RandomBounds, distance_RB: RandomBounds,
height_RB: RandomBounds, height_RB: RandomBounds,
rot_RB: RandomBounds, rot_RB: RandomBounds,
hit_range = 0.2): hit_range = 0.2,
self.follow_rot = True follow_rot = True):
self.follow_rot = follow_rot
self.is_hit_prev = False self.is_hit_prev = False
self.distance_RB = distance_RB self.distance_RB = distance_RB
self.height_RB = height_RB self.height_RB = height_RB
@@ -127,12 +128,12 @@ class Kick(Strike):
super().__init__(distance_RB, height_RB, rot_RB, hit_range=0.2) super().__init__(distance_RB, height_RB, rot_RB, hit_range=0.2)
class Grab(Strike): class Grab(Strike):
def __inite__(self): def __init__(self):
distance_RB = RandomBounds(0.6, 0.8) distance_RB = RandomBounds(0.6, 0.8)
height_RB = RandomBounds(0.8, 0.9) height_RB = RandomBounds(0.8, 1.1)
rot_RB = RandomBounds(-1, 1) rot_RB = RandomBounds(3.14159 - 0.5, 3.14159 + 0.5)
hit_range = 0.1 hit_range = 0.1
super().__init__(distance_RB, height_RB, rot_RB, hit_range=hit_range) super().__init__(distance_RB, height_RB, rot_RB, hit_range=hit_range, follow_rot=False)
class TargetHeadingGoal(Goal): class TargetHeadingGoal(Goal):
def __init__(self): def __init__(self):

7
examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py vendored
View File

@@ -6,7 +6,7 @@ from pybullet_utils import bullet_client
import time import time
from pybullet_envs.deep_mimic.env import motion_capture_data from pybullet_envs.deep_mimic.env import motion_capture_data
from pybullet_envs.deep_mimic.env import humanoid_stable_pd from pybullet_envs.deep_mimic.env import humanoid_stable_pd
from pybullet_envs.deep_mimic.env.goals import GoalType, Goal, createGoal from pybullet_envs.deep_mimic.env.goals import GoalType, Goal, createGoal, Kick, Grab
from pybullet_envs.deep_mimic.env.humanoid_link_ids import HumanoidLinks from pybullet_envs.deep_mimic.env.humanoid_link_ids import HumanoidLinks
import pybullet_data import pybullet_data
import pybullet as p1 import pybullet as p1
@@ -257,7 +257,10 @@ class PyBulletDeepMimicEnv(Env):
goal_weight = 0.3 goal_weight = 0.3
if self.goal.goal_type == GoalType.Strike: if self.goal.goal_type == GoalType.Strike:
linkPos, linkOrient = self._humanoid.getLinkPositionAndOrientation(HumanoidLinks.rightAnkle) if self.goal.__class__ == Kick:
linkPos, linkOrient = self._humanoid.getLinkPositionAndOrientation(HumanoidLinks.rightAnkle)
else: #elif type(self.goal) == Grab:
linkPos, linkOrient = self._humanoid.getLinkPositionAndOrientation(HumanoidLinks.rightWrist)
reward = mimic_weight * reward + goal_weight * self.calcStrikeGoalReward(linkPos) reward = mimic_weight * reward + goal_weight * self.calcStrikeGoalReward(linkPos)
return reward return reward