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remove other humanoids in single humanoid_running.py example

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This commit is contained in:
Erwin Coumans
2017-05-12 17:18:04 -07:00
parent 79e2c10506
commit 85c84ce09a
1 changed files with 2 additions and 23 deletions
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25
examples/pybullet/tensorflow/humanoid_running.py
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@@ -11,15 +11,6 @@ p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSub
#mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4") #mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
plane, human1 = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
p.removeBody(plane)
print (human1)
p.resetBasePositionAndOrientation(human1,[0,1,1.5],[0,0,0,1])
plane, human2 = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
p.resetBasePositionAndOrientation(human2,[0,2,1.5],[0,0,0,1])
p.removeBody(plane)
plane, human = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS) plane, human = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
ordered_joints = [] ordered_joints = []
@@ -36,8 +27,6 @@ for j in range( p.getNumJoints(human) ):
lower, upper = (info[8], info[9]) lower, upper = (info[8], info[9])
ordered_joints.append( (j, lower, upper) ) ordered_joints.append( (j, lower, upper) )
p.setJointMotorControl2(human, j, controlMode=p.VELOCITY_CONTROL, force=0) p.setJointMotorControl2(human, j, controlMode=p.VELOCITY_CONTROL, force=0)
p.setJointMotorControl2(human1, j, controlMode=p.VELOCITY_CONTROL, force=0)
p.setJointMotorControl2(human2, j, controlMode=p.VELOCITY_CONTROL, force=0)
@@ -151,13 +140,9 @@ def demo_run():
frame = 0 frame = 0
while 1: while 1:
obs = collect_observations(human) obs = collect_observations(human)
obs1 = collect_observations(human1)
obs2 = collect_observations(human2)
actions = pi.act(obs) actions = pi.act(obs)
actions1 = pi.act(obs1)
actions2 = pi.act(obs2)
#print(" ".join(["%+0.2f"%x for x in obs])) #print(" ".join(["%+0.2f"%x for x in obs]))
#print("Motors") #print("Motors")
#print(motors) #print(motors)
@@ -174,12 +159,6 @@ def demo_run():
for m in range(len(motors)): for m in range(len(motors)):
forces[m] = motor_power[m]*actions[m]*0.082 forces[m] = motor_power[m]*actions[m]*0.082
p.setJointMotorControlArray(human, motors,controlMode=p.TORQUE_CONTROL, forces=forces) p.setJointMotorControlArray(human, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
for m in range(len(motors)):
forces[m] = motor_power[m]*actions1[m]*0.082
p.setJointMotorControlArray(human1, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
for m in range(len(motors)):
forces[m] = motor_power[m]*actions2[m]*0.082
p.setJointMotorControlArray(human2, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
p.stepSimulation() p.stepSimulation()
#time.sleep(0.01) #time.sleep(0.01)