correct pickle loading

examples/pybullet/examples/humanoidMotionCapture.py

@@ -42,7 +42,11 @@ timeStep = 1. / 600.
 
 p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
 
-path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
+# path = "C:/UntrackedGit/BvhToMimic/OutputMimic/02_01_zero_pos.bvh.txt"
+# path = "C:/UntrackedGit/BvhToMimic/OutputMimic/0005_Walking001.bvh.txt"
+path = "C:/UntrackedGit/BvhToMimic/OutputMimic/0005_Jogging001.bvh.txt"
+# path = "C:/UntrackedGit/BvhToMimic/OutputMimic/02_01.bvh.txt"
+# path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
 #path	=	pybullet_data.getDataPath()+"/data/motions/humanoid3d_cartwheel.txt"
 #path	=	pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"
 

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spinkick_args_semi_trained.txt

@@ -23,4 +23,5 @@
 
 #--output_path output
 #--int_output_path output/intermediate
---model_files output/spinkick_partial_run/agent0_model.ckpt
+#--model_files output/spinkick_partial_run/agent0_model.ckpt
+--model_files output/spinkick_partial_run/spinkick_no_rot.ckpt

examples/pybullet/gym/pybullet_data/args/run_testargs.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 
+#--goal_type Strike
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/0005_Jogging001.bvh.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

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spinkick_args_test.txt

@@ -31,5 +31,6 @@
 
 --output_path output
 #--int_output_path output/intermediate
+#--model_files output/spinkick_partial_run/spinkick_no_rot.ckpt
 --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

examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/h36m_dataset.py

@@ -282,9 +282,18 @@ class Human36mDataset(MocapDataset):
         cam['intrinsic'] = np.concatenate((cam['focal_length'], cam['center'],
                                            cam['radial_distortion'], cam['tangential_distortion']))
 
+    # save np.load
+    np_load_old = np.load
+
+    # modify the default parameters of np.load
+    np.load = lambda *a,**k: np_load_old(*a, allow_pickle=True, **k)
+
     # Load serialized dataset
     data = np.load(path)['positions_3d'].item()
 
+    # restore np.load for future normal usage
+    np.load = np_load_old
+
     self._data = {}
     for subject, actions in data.items():
       self._data[subject] = {}