From 9f131d5a331dee4feab5732b678e71ae99cf6daa Mon Sep 17 00:00:00 2001 From: Bart Moyaers Date: Fri, 28 Jun 2019 09:30:07 +0200 Subject: [PATCH] add more args --- .../run_humanoid3d_backflip_args_test.txt | 26 ++++++++++++++ ..._humanoid3d_spinkick_args_semi_trained.txt | 26 ++++++++++++++ .../args/train_humanoid3d_kick_goals_args.txt | 34 ++++++++++++++++++ .../train_humanoid3d_spinkick_args_test.txt | 35 +++++++++++++++++++ 4 files changed, 121 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_data/args/run_humanoid3d_backflip_args_test.txt create mode 100644 examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spinkick_args_semi_trained.txt create mode 100644 examples/pybullet/gym/pybullet_data/args/train_humanoid3d_kick_goals_args.txt create mode 100644 examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spinkick_args_test.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_backflip_args_test.txt b/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_backflip_args_test.txt new file mode 100644 index 000000000..0d9e05aeb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_backflip_args_test.txt @@ -0,0 +1,26 @@ +--scene imitate + +--num_update_substeps 10 +--num_sim_substeps 2 +--world_scale 4 + +--terrain_file data/terrain/plane.txt + +--char_types general +--character_files data/characters/humanoid3d.txt +--enable_char_soft_contact false +--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14 +#--goal_type Strike + +--char_ctrls ct_pd +--char_ctrl_files data/controllers/humanoid3d_ctrl.txt +--motion_file data/motions/humanoid3d_backflip.txt +--sync_char_root_pos true +--sync_char_root_rot false + +--agent_files data/agents/ct_agent_humanoid_ppo.txt +--train_agents false + +#--output_path output +#--int_output_path output/intermediate +--model_files data/policies/humanoid3d/humanoid3d_backflip.ckpt \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spinkick_args_semi_trained.txt b/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spinkick_args_semi_trained.txt new file mode 100644 index 000000000..7706174b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spinkick_args_semi_trained.txt @@ -0,0 +1,26 @@ +--scene imitate + +--num_update_substeps 10 +--num_sim_substeps 2 +--world_scale 4 + +--terrain_file data/terrain/plane.txt + +--char_types general +--character_files data/characters/humanoid3d.txt +--enable_char_soft_contact false +--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14 + +--char_ctrls ct_pd +--char_ctrl_files data/controllers/humanoid3d_ctrl.txt +--motion_file data/motions/humanoid3d_spinkick.txt +--sync_char_root_pos true +--sync_char_root_rot false +--goal_type Strike + +--agent_files data/agents/ct_agent_humanoid_ppo.txt +--train_agents false + +#--output_path output +#--int_output_path output/intermediate +--model_files output/spinkick_partial_run/agent0_model.ckpt \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_kick_goals_args.txt b/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_kick_goals_args.txt new file mode 100644 index 000000000..5efcd46aa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_kick_goals_args.txt @@ -0,0 +1,34 @@ +--scene imitate + +--time_lim_min 0.5 +--time_lim_max 0.5 +--time_lim_exp 0.2 +--time_end_lim_min 4 +--time_end_lim_max 4 +--time_end_lim_exp 10 +--anneal_samples 32000000 + +--num_update_substeps 10 +--num_sim_substeps 2 +--world_scale 4 + +--terrain_file data/terrain/plane.txt + +--char_types general +--character_files data/characters/humanoid3d.txt +--enable_char_soft_contact false +--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14 +--goal_type kick_random + +--char_ctrls ct_pd +--char_ctrl_files data/controllers/humanoid3d_ctrl.txt +--motion_file data/motions/humanoid3d_kick.txt +--sync_char_root_pos true +--sync_char_root_rot false + +--agent_files data/agents/ct_agent_humanoid_ppo.txt +#--train_agents false + +--output_path output +#--int_output_path output/intermediate +#--model_files data/policies/humanoid3d/agent0_model.ckpt \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spinkick_args_test.txt b/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spinkick_args_test.txt new file mode 100644 index 000000000..01490b34c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spinkick_args_test.txt @@ -0,0 +1,35 @@ +--scene imitate + +--time_lim_min 0.5 +--time_lim_max 0.5 +--time_lim_exp 0.2 +--time_end_lim_min 20 +--time_end_lim_max 20 +--time_end_lim_exp 50 +--anneal_samples 32000000 + +--num_update_substeps 10 +--num_sim_substeps 2 +--world_scale 4 + +--terrain_file data/terrain/plane.txt + +--char_types general +--character_files data/characters/humanoid3d.txt +--enable_char_soft_contact false +--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14 +--goal_type Strike + +--char_ctrls ct_pd +--char_ctrl_files data/controllers/humanoid3d_ctrl.txt +--motion_file data/motions/humanoid3d_spinkick.txt +--sync_char_root_pos true +--sync_char_root_rot false + +--agent_files data/agents/ct_agent_humanoid_ppo.txt +#--train_agents false + +--output_path output +#--int_output_path output/intermediate +--model_files output/spinkick_partial_run/agent0_model.ckpt +#Command: mpiexec -n 6 python DeepMimic_Optimizer.py --arg_file train_humanoid3d_spinkick_args_test.txt --num_workers 6 \ No newline at end of file