add blender test

correct grab goal settings
enable different links for different goal types

build_visual_studio_vr_pybullet_double.bat

@@ -5,15 +5,15 @@ IF NOT EXIST bin\openvr64pi.dll  copy examples\ThirdPartyLibs\openvr\bin\win64\o
 #aargh, see https://github.com/ValveSoftware/openvr/issues/412
 
 
-#find a python version (hopefully just 1) and use this
+REM #find a python version (hopefully just 1) and use this
-dir c:\python* /b /ad > tmp1234.txt
+REM dir c:\python* /b /ad > tmp1234.txt
 
-set /p myvar1= < tmp1234.txt
+REM set /p myvar1= < tmp1234.txt
-set myvar=c:/%myvar1%
+REM set myvar=c:/%myvar1%
-del tmp1234.txt
+REM del tmp1234.txt
 
 rem you can also override and hardcode the Python path like this (just remove the # hashmark in next line)
-rem SET myvar=c:\python-3.5.2
+SET myvar=C:\Users\Bart\AppData\Local\Programs\Python\Python36
 
 cd build3
 

examples/pybullet/examples/humanoidMotionCapture.py

@@ -42,7 +42,9 @@ timeStep = 1. / 600.
 
 p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
 
-path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
+path = pybullet_data.getDataPath() + "/data/motions/blender_ik_test.txt"
+# path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_zero_pos.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_humanoid_grasp_goal_semi_trained.txt

@@ -0,0 +1,27 @@
+--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/humanoid_grasp_test.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+--goal_type Grab
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files output/grasp_goal_partial_run/agent0_model.ckpt
+#--model_files output/spinkick_partial_run/agent0_model.ckpt

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

@@ -0,0 +1,27 @@
+--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/humanoid_grasp_test.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+--goal_type NoGoal
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files output/grasp_partial_run/agent0_model.ckpt
+#--model_files output/spinkick_partial_run/agent0_model.ckpt

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

@@ -0,0 +1,25 @@
+--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_run.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/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_run_continue.txt

@@ -0,0 +1,33 @@
+--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
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_run.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/agent0_model.ckpt

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

@@ -0,0 +1,33 @@
+--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
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid_grasp_test.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

examples/pybullet/gym/pybullet_data/args/train_humanoid_grasp_goal.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 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 Grab
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid_grasp_test.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

examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_zero_pos.txt

@@ -0,0 +1,16 @@
+{
+"Loop": "wrap",
+"Frames":
+[
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
+[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000,	1.000000, 0.000000, 0.000000, 0.000000, 0.000000]
+]
+}

examples/pybullet/gym/pybullet_envs/deep_mimic/env/goals.py

@@ -4,6 +4,16 @@ import random
 import math
 import pybullet as pb
 import numpy
+from pybullet_envs.deep_mimic.env.humanoid_link_ids import HumanoidLinks
+
+class RandomBounds:
+    def __init__(self, lower_bound: float, upper_bound: float):
+        self.upper_bound = upper_bound
+        self.lower_bound = lower_bound
+        self.difference = upper_bound - lower_bound
+
+    def generate(self) -> float:
+        return self.lower_bound + random.random() * self.difference
     
 def randomVal(lowerBound, upperbound):
     difference = upperbound - lowerBound
@@ -15,6 +25,7 @@ class GoalType(Enum):
     TargetHeading = 2
     Throw = 3
     TerrainTraversal = 4
+    Grab = 5
 
     @staticmethod
     def from_str(goal_type_str):
@@ -49,23 +60,33 @@ class NoGoal(Goal):
     def getTFData(self):
         return self.goal_data
 
-class StrikeGoal(Goal):
+class Strike(Goal):
-    def __init__(self):
+    def __init__(self,
-        self.follow_rot = True
+                distance_RB: RandomBounds,
+                height_RB: RandomBounds,
+                rot_RB: RandomBounds,
+                hit_range = 0.2,
+                follow_rot = True,
+                target_link = HumanoidLinks.rightAnkle):
+        self.follow_rot = follow_rot
         self.is_hit_prev = False
+        self.distance_RB = distance_RB
+        self.height_RB = height_RB
+        self.rot_RB = rot_RB
+        self.hit_range = hit_range
+        self.target_link = target_link
         super().__init__(GoalType.Strike)
     
-    def generateGoalData(self, modelPos=[0,0,0], modelOrient=[0,0,0,1]):
+    def generateGoalData(self,
+                        modelPos=[0,0,0],
+                        modelOrient=[0,0,0,1]):
         # distance, height, rot
-        distance = randomVal(0.6, 0.8)
+        distance = self.distance_RB.generate()
-        height = randomVal(0.8, 1.25)
+        height = self.height_RB.generate()
-        rot = randomVal(-1, 1) # radians
+        rot = self.rot_RB.generate() # radians
 
         self.is_hit = False
 
-        # The max distance from the target counting as a hit
-        self.hit_range = 0.2
-
         # Transform to xyz coordinates for placement in environment
         x = distance * math.cos(rot)
         y = distance * math.sin(rot)
@@ -75,7 +96,7 @@ class StrikeGoal(Goal):
         self.goal_data = [-x, z, y]
 
         if self.follow_rot:
-            # Take rotation of human model into account
+            # Take rotation of robot model into account
             rotMatList = pb.getMatrixFromQuaternion(modelOrient)
             rotMat = numpy.array([rotMatList[0:3], rotMatList[3:6], rotMatList[6:9]])
             vec = numpy.array(self.goal_data)
@@ -102,6 +123,22 @@ class StrikeGoal(Goal):
             x = 1.0
         return [x] + self.goal_data
 
+class Kick(Strike):
+    def __init__(self):
+        distance_RB = RandomBounds(0.6, 0.8)
+        height_RB = RandomBounds(0.8, 1.25)
+        rot_RB = RandomBounds(-1, 1)
+        super().__init__(distance_RB, height_RB, rot_RB, hit_range=0.2)
+
+class Grab(Strike):
+    def __init__(self):
+        distance_RB = RandomBounds(0.4, 0.6)
+        height_RB = RandomBounds(0.8, 1.1)
+        rot_RB = RandomBounds(3.14159 - 0.5, 3.14159 + 0.5)
+        hit_range = 0.1
+        target_link = HumanoidLinks.rightWrist
+        super().__init__(distance_RB, height_RB, rot_RB, hit_range=hit_range, follow_rot=False, target_link=target_link)
+
 class TargetHeadingGoal(Goal):
     def __init__(self):
         super().__init__(GoalType.TargetHeading)
@@ -122,8 +159,10 @@ def createGoal(goal_type: GoalType) -> Goal:
     if goal_type == GoalType.NoGoal:
         return NoGoal()
     elif goal_type == GoalType.Strike:
-        return StrikeGoal()
+        return Kick()
     elif goal_type == GoalType.TargetHeading:
         return TargetHeadingGoal()
+    elif goal_type == GoalType.Grab:
+        return Grab()
     else:
         raise NotImplementedError

examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py

@@ -6,7 +6,7 @@ from pybullet_utils import bullet_client
 import time
 from pybullet_envs.deep_mimic.env import motion_capture_data
 from pybullet_envs.deep_mimic.env import humanoid_stable_pd
-from pybullet_envs.deep_mimic.env.goals import GoalType, Goal, createGoal
+from pybullet_envs.deep_mimic.env.goals import GoalType, Goal, createGoal, Kick, Grab
 from pybullet_envs.deep_mimic.env.humanoid_link_ids import HumanoidLinks
 import pybullet_data
 import pybullet as p1
@@ -257,7 +257,7 @@ class PyBulletDeepMimicEnv(Env):
     goal_weight = 0.3
 
     if self.goal.goal_type == GoalType.Strike:
-      linkPos, linkOrient = self._humanoid.getLinkPositionAndOrientation(HumanoidLinks.rightAnkle)
+      linkPos, linkOrient = self._humanoid.getLinkPositionAndOrientation(self.goal.target_link)
       reward = mimic_weight * reward + goal_weight * self.calcStrikeGoalReward(linkPos)
 
     return reward
@@ -289,7 +289,7 @@ class PyBulletDeepMimicEnv(Env):
     #print("pybullet_deep_mimic_env:update timeStep=",timeStep," t=",self.t)
     self._pybullet_client.setTimeStep(timeStep)
     self._humanoid._timeStep = timeStep
-    self.updateGoal(self._humanoid.getLinkPositionAndOrientation(HumanoidLinks.rightAnkle)[0])
+    self.updateGoal()
     if self.target_id is not None: # TODO: check goal type
       self.updateDrawStrikeGoal()
 
@@ -413,8 +413,9 @@ class PyBulletDeepMimicEnv(Env):
       distanceSquared = sum([(x - y)**2 for (x, y) in zip(goalPos, linkPos)])
       return math.exp(-4*distanceSquared)
 
-  def updateGoal(self, linkPos):
+  def updateGoal(self):
     if self.goal.goal_type == GoalType.Strike:
+      linkPos = self._humanoid.getLinkPositionAndOrientation(self.goal.target_link)[0]
       if self.prevCycleCount != self._humanoid.cycleCount:
         # generate new goal
         humanPos, humanOrient = self._humanoid.getLinkPositionAndOrientation(0)

examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py

@@ -26,7 +26,9 @@ pybullet_client.setPhysicsEngineParameter(numSolverIterations=10)
 
 mocapData = motion_capture_data.MotionCaptureData()
 #motionPath = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"
-motionPath = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
+# motionPath = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
+# motionPath = pybullet_data.getDataPath() + "/data/motions/blender_ik_test.txt"
+motionPath = pybullet_data.getDataPath() + "/data/motions/humanoid_grasp_test.txt"
 mocapData.Load(motionPath)
 timeStep = 1. / 600
 useFixedBase = False

examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py

@@ -74,7 +74,7 @@ class RLAgent(ABC):
 
     self._output_dir = ""
     self._int_output_dir = ""
-    self.output_iters = 100
+    self.output_iters = 50
     self.int_output_iters = 100
 
     self.train_return = 0.0
@@ -556,7 +556,7 @@ class RLAgent(ABC):
           self.logger.log_tabular("Test_Return", self.avg_test_return)
           self.logger.log_tabular("State_Mean", s_mean)
           self.logger.log_tabular("State_Std", s_std)
-          self.logger.log_tabular("Goal_Type", self.world.env.goal.goal_type)
+          self.logger.log_tabular("Goal_Type", self.world.env.goal.__class__.__name__)
           self.logger.log_tabular("Goal_Mean", g_mean)
           self.logger.log_tabular("Goal_Std", g_std)
           self._log_exp_params()

examples/pybullet/gym/pybullet_envs/deep_mimic/runcommand.txt

@@ -0,0 +1,60 @@
+python testrl.py --arg_file run_humanoid3d_backflip_args.txt
+python testrl.py --arg_file run_humanoid3d_spinkick_args_semi_trained.txt
+python testrl.py --arg_file run_humanoid_run_semi_trained.txt
+python testrl.py --arg_file run_humanoid_grasp_semi_trained.txt
+python testrl.py --arg_file run_humanoid_grasp_goal_semi_trained.txt
+
+
+scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output
+scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output
+scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output/spinkick_partial_run
+scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output/grasp_partial_run
+scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output/grasp_goal_partial_run
+scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d
+
+scp -r -P 33001 acro@127.0.0.1:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output/grasp_partial_run
+scp -r -P 33001 acro@127.0.0.1:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output/grasp_goal_partial_run
+
+cd Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic
+mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_kick_goals_args.txt --num_workers 16
+mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_spinkick_args.txt --num_workers 16
+mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_walk_args.txt --num_workers 16
+mpiexec -n 16 python DeepMimic_Optimizer.py --arg_file train_humanoid3d_run_args.txt --num_workers 16
+mpiexec -n 16 python DeepMimic_Optimizer.py --arg_file train_humanoid_grasp_args.txt --num_workers 16
+mpiexec -n 16 python DeepMimic_Optimizer.py --arg_file train_humanoid_grasp_goal.txt --num_workers 16
+
+// "python3" may have to be "python" instead in previous commands!
+
+// To install pybullet from a local package editably:
+pip install --editable .
+
+// Remote server setup:
+    // setup virtual environment:
+    virtualenv env
+    pip install gym
+    pip install tensorflow==1.14.0
+
+    // build and install pybullet locally:
+    // In bullet3 root folder:
+    ./build_cmake_pybullet_double.sh
+    pip install --editable .
+
+    // Install openMPI:
+    https://www.open-mpi.org/
+    sudo apt install libopenmpi-dev
+    pip install mpi4py
+
+
+// To run training after closing terminal:
+https://linuxize.com/post/how-to-use-linux-screen/
+sudo apt install screen
+screen -r // To return to screen
+ctrl + a -> d // To detach from screen
+ctrl + a -> K // To kill screen (Or type: exit)
+
+ssh acro@10.11.98.170
+
+
+// enable virtualenv:
+source /home/acro/Git/bullet3/env/bin/activate
+