random changes (to be undone when merging)

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

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

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

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

examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_zero_pos.txt

@@ -0,0 +1,16 @@
+{
+"Loop": "wrap",
+"Frames":
+[
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000]
+]
+}