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enable self-collision for deep_mimic pybullet_envs and make it easier to try it out:

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python3 -m pybullet_envs.deep_mimic.testrl
This commit is contained in:
Erwin Coumans
2019-11-30 13:19:28 -08:00
parent cf67e7af0a
commit 7f9f514b7e
3 changed files with 10 additions and 9 deletions
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12
examples/pybullet/examples/humanoidMotionCapture.py
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@@ -84,32 +84,32 @@ p.addUserDebugText("Kinematic",
p.addUserDebugText("Stable PD (Py)", p.addUserDebugText("Stable PD (Py)",
[startLocations[4][0], startLocations[4][1] + 1, startLocations[4][2]], [startLocations[4][0], startLocations[4][1] + 1, startLocations[4][2]],
[0, 0, 0]) [0, 0, 0])
flags=p.URDF_MAINTAIN_LINK_ORDER+p.URDF_USE_SELF_COLLISION
humanoid = p.loadURDF("humanoid/humanoid.urdf", humanoid = p.loadURDF("humanoid/humanoid.urdf",
startLocations[0], startLocations[0],
globalScaling=0.25, globalScaling=0.25,
useFixedBase=False, useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER) flags=flags)
humanoid2 = p.loadURDF("humanoid/humanoid.urdf", humanoid2 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[1], startLocations[1],
globalScaling=0.25, globalScaling=0.25,
useFixedBase=False, useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER) flags=flags)
humanoid3 = p.loadURDF("humanoid/humanoid.urdf", humanoid3 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[2], startLocations[2],
globalScaling=0.25, globalScaling=0.25,
useFixedBase=False, useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER) flags=flags)
humanoid4 = p.loadURDF("humanoid/humanoid.urdf", humanoid4 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[3], startLocations[3],
globalScaling=0.25, globalScaling=0.25,
useFixedBase=False, useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER) flags=flags)
humanoid5 = p.loadURDF("humanoid/humanoid.urdf", humanoid5 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[4], startLocations[4],
globalScaling=0.25, globalScaling=0.25,
useFixedBase=False, useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER) flags=flags)
humanoid_fix = p.createConstraint(humanoid, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0], humanoid_fix = p.createConstraint(humanoid, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
startLocations[0], [0, 0, 0, 1]) startLocations[0], [0, 0, 0, 1])

5
examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py vendored
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@@ -25,12 +25,12 @@ class HumanoidStablePD(object):
self._mocap_data = mocap_data self._mocap_data = mocap_data
self._arg_parser = arg_parser self._arg_parser = arg_parser
print("LOADING humanoid!") print("LOADING humanoid!")
flags=self._pybullet_client.URDF_MAINTAIN_LINK_ORDER+self._pybullet_client.URDF_USE_SELF_COLLISION+self._pybullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
self._sim_model = self._pybullet_client.loadURDF( self._sim_model = self._pybullet_client.loadURDF(
"humanoid/humanoid.urdf", [0, 0.889540259, 0], "humanoid/humanoid.urdf", [0, 0.889540259, 0],
globalScaling=0.25, globalScaling=0.25,
useFixedBase=useFixedBase, useFixedBase=useFixedBase,
flags=self._pybullet_client.URDF_MAINTAIN_LINK_ORDER) flags=flags)
#self._pybullet_client.setCollisionFilterGroupMask(self._sim_model,-1,collisionFilterGroup=0,collisionFilterMask=0) #self._pybullet_client.setCollisionFilterGroupMask(self._sim_model,-1,collisionFilterGroup=0,collisionFilterMask=0)
#for j in range (self._pybullet_client.getNumJoints(self._sim_model)): #for j in range (self._pybullet_client.getNumJoints(self._sim_model)):
@@ -346,7 +346,6 @@ class HumanoidStablePD(object):
#static char* kwlist[] = { "bodyUniqueId", #static char* kwlist[] = { "bodyUniqueId",
#"jointIndices", #"jointIndices",
#"controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "maxVelocities", "physicsClientId", NULL }; #"controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "maxVelocities", "physicsClientId", NULL };
self._pybullet_client.setJointMotorControlMultiDofArray(self._sim_model, self._pybullet_client.setJointMotorControlMultiDofArray(self._sim_model,
indices, indices,
self._pybullet_client.STABLE_PD_CONTROL, self._pybullet_client.STABLE_PD_CONTROL,

2
examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
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@@ -37,6 +37,8 @@ def build_arg_parser(args):
arg_parser.load_args(args) arg_parser.load_args(args)
arg_file = arg_parser.parse_string('arg_file', '') arg_file = arg_parser.parse_string('arg_file', '')
if arg_file == '':
arg_file = "run_humanoid3d_backflip_args.txt"
if (arg_file != ''): if (arg_file != ''):
path = pybullet_data.getDataPath() + "/args/" + arg_file path = pybullet_data.getDataPath() + "/args/" + arg_file
succ = arg_parser.load_file(path) succ = arg_parser.load_file(path)