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Merge pull request #2126 from erwincoumans/master

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replace deep_mimic policies by versions trained using PyBullet, backf…
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erwincoumans
2019-02-25 15:55:37 -08:00
committed by GitHub
parent fd161fa061 03e897d1f5
commit 70a9d34dc1
5 changed files with 25 additions and 26 deletions
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examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_backflip.ckpt.data-00000-of-00001
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examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py vendored
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@@ -87,7 +87,7 @@ class HumanoidStablePD(object):
self.resetPose()
def resetPose(self):
print("resetPose with self._frame=", self._frame, " and self._frameFraction=",self._frameFraction)
#print("resetPose with self._frame=", self._frame, " and self._frameFraction=",self._frameFraction)
pose = self.computePose(self._frameFraction)
self.initializePose(self._poseInterpolator, self._sim_model, initBase=True)
self.initializePose(self._poseInterpolator, self._kin_model, initBase=False)
@@ -239,44 +239,43 @@ class HumanoidStablePD(object):
leftElbow=13
kp = 0.2
forceScale=1
#self._jointDofCounts=[4,4,4,1,4,4,1,4,1,4,4,1]
maxForce = maxForces[startIndex]
maxForce = [forceScale*maxForces[startIndex],forceScale*maxForces[startIndex+1],forceScale*maxForces[startIndex+2],forceScale*maxForces[startIndex+3]]
startIndex+=4
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,chest,controlMode, targetPosition=self._poseInterpolator._chestRot,positionGain=kp, force=[maxForce])
maxForce = maxForces[startIndex]
startIndex+=4
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,neck,controlMode,targetPosition=self._poseInterpolator._neckRot,positionGain=kp, force=[maxForce])
maxForce = maxForces[startIndex]
startIndex+=4
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,rightHip,controlMode,targetPosition=self._poseInterpolator._rightHipRot,positionGain=kp, force=[maxForce])
maxForce = maxForces[startIndex]
startIndex+=1
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,rightKnee,controlMode,targetPosition=self._poseInterpolator._rightKneeRot,positionGain=kp, force=[maxForce])
maxForce = maxForces[startIndex]
startIndex+=4
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,rightAnkle,controlMode,targetPosition=self._poseInterpolator._rightAnkleRot,positionGain=kp, force=[maxForce])
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,chest,controlMode, targetPosition=self._poseInterpolator._chestRot,positionGain=kp, force=maxForce)
maxForce = [maxForces[startIndex],maxForces[startIndex+1],maxForces[startIndex+2],maxForces[startIndex+3]]
startIndex+=4
maxForce = maxForces[startIndex]
maxForce = maxForces[startIndex]
startIndex+=1
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,rightElbow, controlMode,targetPosition=self._poseInterpolator._rightElbowRot,positionGain=kp, force=[maxForce])
maxForce = maxForces[startIndex]
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,neck,controlMode,targetPosition=self._poseInterpolator._neckRot,positionGain=kp, force=maxForce)
maxForce = [maxForces[startIndex],maxForces[startIndex+1],maxForces[startIndex+2],maxForces[startIndex+3]]
startIndex+=4
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,leftHip, controlMode,targetPosition=self._poseInterpolator._leftHipRot,positionGain=kp, force=[maxForce])
maxForce = maxForces[startIndex]
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,rightHip,controlMode,targetPosition=self._poseInterpolator._rightHipRot,positionGain=kp, force=maxForce)
maxForce = [forceScale*maxForces[startIndex]]
startIndex+=1
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,leftKnee, controlMode,targetPosition=self._poseInterpolator._leftKneeRot,positionGain=kp, force=[maxForce])
maxForce = maxForces[startIndex]
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,rightKnee,controlMode,targetPosition=self._poseInterpolator._rightKneeRot,positionGain=kp, force=maxForce)
maxForce = [maxForces[startIndex],maxForces[startIndex+1],maxForces[startIndex+2],maxForces[startIndex+3]]
startIndex+=4
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,leftAnkle, controlMode,targetPosition=self._poseInterpolator._leftAnkleRot,positionGain=kp, force=[maxForce])
maxForce = maxForces[startIndex]
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,rightAnkle,controlMode,targetPosition=self._poseInterpolator._rightAnkleRot,positionGain=kp, force=maxForce)
maxForce = [forceScale*maxForces[startIndex],forceScale*maxForces[startIndex+1],forceScale*maxForces[startIndex+2],forceScale*maxForces[startIndex+3]]
startIndex+=4
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,leftShoulder, controlMode,targetPosition=self._poseInterpolator._leftShoulderRot,positionGain=kp, force=[maxForce])
maxForce = maxForces[startIndex]
maxForce = [forceScale*maxForces[startIndex]]
startIndex+=1
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,leftElbow, controlMode,targetPosition=self._poseInterpolator._leftElbowRot,positionGain=kp, force=[maxForce])
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,rightElbow, controlMode,targetPosition=self._poseInterpolator._rightElbowRot,positionGain=kp, force=maxForce)
maxForce = [maxForces[startIndex],maxForces[startIndex+1],maxForces[startIndex+2],maxForces[startIndex+3]]
startIndex+=4
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,leftHip, controlMode,targetPosition=self._poseInterpolator._leftHipRot,positionGain=kp, force=maxForce)
maxForce = [forceScale*maxForces[startIndex]]
startIndex+=1
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,leftKnee, controlMode,targetPosition=self._poseInterpolator._leftKneeRot,positionGain=kp, force=maxForce)
maxForce = [maxForces[startIndex],maxForces[startIndex+1],maxForces[startIndex+2],maxForces[startIndex+3]]
startIndex+=4
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,leftAnkle, controlMode,targetPosition=self._poseInterpolator._leftAnkleRot,positionGain=kp, force=maxForce)
maxForce = [maxForces[startIndex],maxForces[startIndex+1],maxForces[startIndex+2],maxForces[startIndex+3]]
startIndex+=4
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,leftShoulder, controlMode,targetPosition=self._poseInterpolator._leftShoulderRot,positionGain=kp, force=maxForce)
maxForce = [forceScale*maxForces[startIndex]]
startIndex+=1
self._pybullet_client.setJointMotorControlMultiDof(self._sim_model,leftElbow, controlMode,targetPosition=self._poseInterpolator._leftElbowRot,positionGain=kp, force=maxForce)
#print("startIndex=",startIndex)
def getPhase(self):