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deep_mimic: add option for spherical joint drive motor, next to stable PD control

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(existing policies won't work with those motors, needs tuning and re-training)
This commit is contained in:
erwincoumans
2019-02-12 20:42:05 -08:00
parent 85ee4c2934
commit 79a273f644
4 changed files with 72 additions and 14 deletions
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17
examples/pybullet/examples/createMultiBodyBatch.py
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@@ -9,7 +9,7 @@ if (cid<0):
p.setPhysicsEngineParameter(numSolverIterations=4, minimumSolverIslandSize=1024)
p.setTimeStep(1./120.)
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "createMultiBodyBatch.json")
#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
#disable rendering during creation.
@@ -112,9 +112,6 @@ indices=[ 0, 1, 2, 0, 2, 3, #//ground face
#p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale, vertices=vertices, indices=indices, uvs=uvs, normals=normals)
#visualShapeId = p.createVisualShape(shapeType=p.GEOM_BOX,rgbaColor=[1,1,1,1], halfExtents=[0.5,0.5,0.5],specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=[1,1,1], vertices=vertices, indices=indices)
#visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale, fileName="duck.obj")
collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_BOX, halfExtents=meshScale)#MESH, vertices=vertices, collisionFramePosition=shift,meshScale=meshScale)
texUid = p.loadTexture("tex256.png")
@@ -124,16 +121,16 @@ batchPositions=[]
for x in range (33):
for y in range (34):
for z in range (4):
for x in range (32):
for y in range (32):
for z in range (10):
batchPositions.append([x*meshScale[0]*5.5,y*meshScale[1]*5.5,(0.5+z)*meshScale[2]*2.5])
bodyUid = p.createMultiBody(baseMass=1,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition =[0,0,2], batchPositions=batchPositions,useMaximalCoordinates=True)
bodyUid = p.createMultiBody(baseMass=0,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition =[0,0,2], batchPositions=batchPositions,useMaximalCoordinates=True)
p.changeVisualShape(bodyUid,-1, textureUniqueId = texUid)
#p.syncBodyInfo()
#print("numBodies=",p.getNumBodies())
p.syncBodyInfo()
print("numBodies=",p.getNumBodies())
p.stopStateLogging(logId)
p.setGravity(0,0,-10)