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enable deepmimic training on mac

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This commit is contained in:
Erwin Coumans
2019-02-01 16:24:48 -08:00
parent 63e781b88b
commit 7cc2685faf
5 changed files with 21 additions and 12 deletions
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2
examples/pybullet/gym/pybullet_envs/deep_mimic/env/pd_controller_stable.py vendored
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@@ -141,4 +141,4 @@ class PDControllerStable(object):
maxF = np.array(maxForces)
forces = np.clip(tau, -maxF , maxF )
#print("c=",c)
return tau
return tau

12
examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py vendored
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@@ -22,8 +22,10 @@ class PyBulletDeepMimicEnv(Env):
def reset(self):
self.t = 0
if not self._isInitialized:
self._pybullet_client = bullet_client.BulletClient(connection_mode=p1.GUI)
#self._pybullet_client = bullet_client.BulletClient()
if self.enable_draw:
self._pybullet_client = bullet_client.BulletClient(connection_mode=p1.GUI)
else:
self._pybullet_client = bullet_client.BulletClient()
self._pybullet_client.setAdditionalSearchPath(pybullet_data.getDataPath())
z2y = self._pybullet_client.getQuaternionFromEuler([-math.pi*0.5,0,0])
@@ -198,7 +200,7 @@ class PyBulletDeepMimicEnv(Env):
state = self._humanoid.getState()
state[1]=state[1]+0.008
#print("record_state=",state)
return state
return np.array(state)
def record_goal(self, agent_id):
@@ -241,11 +243,11 @@ class PyBulletDeepMimicEnv(Env):
def is_episode_end(self):
isEnded = self._humanoid.terminates()
#also check maximum time, 20 seconds (todo get from file)
print("self.t=",self.t)
#print("self.t=",self.t)
if (self.t>3):
isEnded = True
return isEnded
def check_valid_episode(self):
#could check if limbs exceed velocity threshold
return true
return true