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add deepmimic args file (for testing)

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implement deepmimic reward function (only joint angles/velocities for now)
fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp
This commit is contained in:
erwincoumans
2018-11-23 18:32:23 -08:00
parent ccbd6e5fb7
commit ca36a82c62
35 changed files with 1174 additions and 85 deletions
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26
examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
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@@ -19,19 +19,19 @@ motion=MotionCaptureData()
motionPath = pybullet_data.getDataPath()+"/motions/humanoid3d_walk.txt"#humanoid3d_spinkick.txt"#/motions/humanoid3d_backflip.txt"
motion.Load(motionPath)
print("numFrames = ", motion.NumFrames())
#print("numFrames = ", motion.NumFrames())
simTimeId= bc.addUserDebugParameter("simTime",0,motion.NumFrames()-1.1,0)
y2zOrn = bc.getQuaternionFromEuler([-1.57,0,0])
bc.loadURDF("plane.urdf",[0,-0.04,0], y2zOrn)
humanoid = Humanoid(bc, motion,[0,0,0])
humanoid = Humanoid(bc, motion,[0,0,0])#4000,0,5000])
simTime = 0
keyFrameDuration = motion.KeyFrameDuraction()
print("keyFrameDuration=",keyFrameDuration)
#print("keyFrameDuration=",keyFrameDuration)
#for i in range (50):
# bc.stepSimulation()
@@ -44,25 +44,25 @@ stage = 0
def Reset(humanoid):
global simTime
humanoid.Reset()
simTime = random.randint(0,motion.NumFrames()-2)
simTime = 0 #random.randint(0,motion.NumFrames()-2)
humanoid.SetSimTime(simTime)
pose = humanoid.InitializePoseFromMotionData()
humanoid.ApplyPose(pose, True, True)
humanoid.ApplyPose(pose, True, True, humanoid._humanoid,bc)
Reset(humanoid)
bc.stepSimulation()
#bc.stepSimulation()
while (1):
#simTime = bc.readUserDebugParameter(frameTimeId)
#print("keyFrameDuration=",keyFrameDuration)
dt = (1./240.)
print("------------------------------------------")
print("dt=",dt)
#print("------------------------------------------")
#print("dt=",dt)
print("simTime=",simTime)
print("humanoid.SetSimTime(simTime)")
#print("simTime=",simTime)
#print("humanoid.SetSimTime(simTime)")
humanoid.SetSimTime(simTime)
#pose = humanoid.InitializePoseFromMotionData()
@@ -75,8 +75,10 @@ while (1):
action = [0]*36
humanoid.ApplyAction(action)
for s in range (8):
print("step:",s)
#print("step:",s)
bc.stepSimulation()
simTime += dt
time.sleep(1./240.)
reward = humanoid.GetReward()
print("reward=",reward)