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more work on pybullet_envs.deep_mimic.

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allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.
This commit is contained in:
erwincoumans
2019-02-18 17:57:02 -08:00
parent dc8a40f7dc
commit bdf9b10246
25 changed files with 176 additions and 76 deletions
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8
examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
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@@ -15,11 +15,11 @@ from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env import PyBulletDeepMim
import sys
import random
update_timestep = 1./600.
update_timestep = 1./240.
animating = True
def update_world(world, time_elapsed):
timeStep = 1./600.
timeStep = update_timestep
world.update(timeStep)
reward = world.env.calc_reward(agent_id=0)
#print("reward=",reward)
@@ -48,7 +48,7 @@ args = sys.argv[1:]
def build_world(args, enable_draw):
arg_parser = build_arg_parser(args)
print("enable_draw=",enable_draw)
env = PyBulletDeepMimicEnv(args, enable_draw)
env = PyBulletDeepMimicEnv(arg_parser, enable_draw)
world = RLWorld(env, arg_parser)
#world.env.set_playback_speed(playback_speed)
@@ -83,7 +83,7 @@ if __name__ == '__main__':
world = build_world(args, True)
while (world.env._pybullet_client.isConnected()):
timeStep = 1./600.
timeStep = update_timestep
keys = world.env.getKeyboardEvents()