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random changes (to be undone when merging)

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Bart Moyaers
2020-02-12 10:55:54 +01:00
parent ef20f9e62c
commit 644a69a066
12 changed files with 8117 additions and 9 deletions
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3
examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py vendored
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@@ -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

2
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py
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@@ -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

49
examples/pybullet/gym/pybullet_envs/deep_mimic/runcommand.txt Normal file
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@@ -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