From 644a69a0662fdb5ae37e383eb1694a3aadfdbc63 Mon Sep 17 00:00:00 2001
From: Bart Moyaers <bart.moyaers@kuleuven.be>
Date: Wed, 12 Feb 2020 10:55:54 +0100
Subject: [PATCH] random changes (to be undone when merging)

---
 build_visual_studio_vr_pybullet_double.bat    |   12 +-
 .../examples/humanoidMotionCapture.py         |    4 +-
 .../args/run_humanoid_grasp_semi_trained.txt  |   27 +
 .../args/run_humanoid_run_semi_trained.txt    |   25 +
 .../args/train_humanoid3d_run_continue.txt    |   33 +
 .../args/train_humanoid_grasp_args.txt        |   33 +
 .../data/motions/blender_ik_test.txt          | 3961 +++++++++++++++++
 .../data/motions/humanoid3d_zero_pos.txt      |   16 +
 .../data/motions/humanoid_grasp_test.txt      | 3961 +++++++++++++++++
 .../deep_mimic/env/testHumanoid.py            |    3 +-
 .../deep_mimic/learning/rl_agent.py           |    2 +-
 .../pybullet_envs/deep_mimic/runcommand.txt   |   49 +
 12 files changed, 8117 insertions(+), 9 deletions(-)
 create mode 100644 examples/pybullet/gym/pybullet_data/args/run_humanoid_grasp_semi_trained.txt
 create mode 100644 examples/pybullet/gym/pybullet_data/args/run_humanoid_run_semi_trained.txt
 create mode 100644 examples/pybullet/gym/pybullet_data/args/train_humanoid3d_run_continue.txt
 create mode 100644 examples/pybullet/gym/pybullet_data/args/train_humanoid_grasp_args.txt
 create mode 100644 examples/pybullet/gym/pybullet_data/data/motions/blender_ik_test.txt
 create mode 100644 examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_zero_pos.txt
 create mode 100644 examples/pybullet/gym/pybullet_data/data/motions/humanoid_grasp_test.txt
 create mode 100644 examples/pybullet/gym/pybullet_envs/deep_mimic/runcommand.txt

diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat
index b6fd3cb93..978f6ef87 100644
--- a/build_visual_studio_vr_pybullet_double.bat
+++ b/build_visual_studio_vr_pybullet_double.bat
@@ -5,15 +5,15 @@ IF NOT EXIST bin\openvr64pi.dll  copy examples\ThirdPartyLibs\openvr\bin\win64\o
 #aargh, see https://github.com/ValveSoftware/openvr/issues/412
 
 
-#find a python version (hopefully just 1) and use this
-dir c:\python* /b /ad > tmp1234.txt
+REM #find a python version (hopefully just 1) and use this
+REM dir c:\python* /b /ad > tmp1234.txt
 
-set /p myvar1= < tmp1234.txt
-set myvar=c:/%myvar1%
-del tmp1234.txt
+REM set /p myvar1= < tmp1234.txt
+REM set myvar=c:/%myvar1%
+REM del tmp1234.txt
 
 rem you can also override and hardcode the Python path like this (just remove the # hashmark in next line)
-rem SET myvar=c:\python-3.5.2
+SET myvar=C:\Users\Bart\AppData\Local\Programs\Python\Python36
 
 cd build3
 
diff --git a/examples/pybullet/examples/humanoidMotionCapture.py b/examples/pybullet/examples/humanoidMotionCapture.py
index f810f533e..aa29c2201 100644
--- a/examples/pybullet/examples/humanoidMotionCapture.py
+++ b/examples/pybullet/examples/humanoidMotionCapture.py
@@ -42,7 +42,9 @@ timeStep = 1. / 600.
 
 p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
 
-path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
+path = pybullet_data.getDataPath() + "/data/motions/blender_ik_test.txt"
+# path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_zero_pos.txt"
+# path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
 #path	=	pybullet_data.getDataPath()+"/data/motions/humanoid3d_cartwheel.txt"
 #path	=	pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"
 
diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid_grasp_semi_trained.txt b/examples/pybullet/gym/pybullet_data/args/run_humanoid_grasp_semi_trained.txt
new file mode 100644
index 000000000..37ccc2acc
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/args/run_humanoid_grasp_semi_trained.txt
@@ -0,0 +1,27 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid_grasp_test.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+--goal_type NoGoal
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files output/grasp_partial_run/agent0_model.ckpt
+#--model_files output/spinkick_partial_run/agent0_model.ckpt
\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid_run_semi_trained.txt b/examples/pybullet/gym/pybullet_data/args/run_humanoid_run_semi_trained.txt
new file mode 100644
index 000000000..081c1aee2
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/args/run_humanoid_run_semi_trained.txt
@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_run.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files output/agent0_model.ckpt
\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_run_continue.txt b/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_run_continue.txt
new file mode 100644
index 000000000..71f189f87
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_run_continue.txt
@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_run.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files output/agent0_model.ckpt
\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid_grasp_args.txt b/examples/pybullet/gym/pybullet_data/args/train_humanoid_grasp_args.txt
new file mode 100644
index 000000000..dab4dd5ac
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/args/train_humanoid_grasp_args.txt
@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid_grasp_test.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt
\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_data/data/motions/blender_ik_test.txt b/examples/pybullet/gym/pybullet_data/data/motions/blender_ik_test.txt
new file mode 100644
index 000000000..492837e57
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/data/motions/blender_ik_test.txt
@@ -0,0 +1,3961 @@
+{
+    "Loop": "none",
+    "Frames": [
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diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_zero_pos.txt b/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_zero_pos.txt
new file mode 100644
index 000000000..6fbd1b484
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_zero_pos.txt
@@ -0,0 +1,16 @@
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\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid_grasp_test.txt b/examples/pybullet/gym/pybullet_data/data/motions/humanoid_grasp_test.txt
new file mode 100644
index 000000000..492837e57
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/data/motions/humanoid_grasp_test.txt
@@ -0,0 +1,3961 @@
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+}
\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py
index 7f52bf08d..1a9869094 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py
@@ -26,7 +26,8 @@ pybullet_client.setPhysicsEngineParameter(numSolverIterations=10)
 
 mocapData = motion_capture_data.MotionCaptureData()
 #motionPath = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"
-motionPath = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
+# motionPath = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
+motionPath = pybullet_data.getDataPath() + "/data/motions/blender_ik_test.txt"
 mocapData.Load(motionPath)
 timeStep = 1. / 600
 useFixedBase = False
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py
index d64991061..ae50d2faf 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py
@@ -74,7 +74,7 @@ class RLAgent(ABC):
 
     self._output_dir = ""
     self._int_output_dir = ""
-    self.output_iters = 100
+    self.output_iters = 50
     self.int_output_iters = 100
 
     self.train_return = 0.0
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/runcommand.txt b/examples/pybullet/gym/pybullet_envs/deep_mimic/runcommand.txt
new file mode 100644
index 000000000..48b59875d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/runcommand.txt
@@ -0,0 +1,49 @@
+python testrl.py --arg_file run_humanoid3d_backflip_args.txt
+python testrl.py --arg_file run_humanoid3d_spinkick_args_semi_trained.txt
+python testrl.py --arg_file run_humanoid_run_semi_trained.txt
+python testrl.py --arg_file run_humanoid_grasp_semi_trained.txt
+
+
+scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output
+scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output
+scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output/spinkick_partial_run
+scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output/grasp_partial_run
+scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d
+cd Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic
+mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_kick_goals_args.txt --num_workers 16
+mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_spinkick_args.txt --num_workers 16
+mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_walk_args.txt --num_workers 16
+mpiexec -n 16 python DeepMimic_Optimizer.py --arg_file train_humanoid3d_run_args.txt --num_workers 16
+mpiexec -n 16 python DeepMimic_Optimizer.py --arg_file train_humanoid_grasp_args.txt --num_workers 16
+
+// "python3" may have to be "python" instead in previous commands!
+
+// To install pybullet from a local package editably:
+pip install --editable .
+
+// Remote server setup:
+    // setup virtual environment:
+    virtualenv env
+    pip install gym
+    pip install tensorflow==1.14.0
+
+    // build and install pybullet locally:
+    // In bullet3 root folder:
+    ./build_cmake_pybullet_double.sh
+    pip install --editable .
+
+    // Install openMPI:
+    https://www.open-mpi.org/
+    sudo apt install libopenmpi-dev
+    pip install mpi4py
+
+
+// To run training after closing terminal:
+https://linuxize.com/post/how-to-use-linux-screen/
+sudo apt install screen
+screen -r
+ssh acro@10.11.98.170
+
+// enable virtualenv:
+source /home/acro/Git/bullet3/env/bin/activate
+