ca36a82c62
implement deepmimic reward function (only joint angles/velocities for now) fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp
26 lines
823 B
Python
26 lines
823 B
Python
import pybullet_data
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from pybullet_utils.arg_parser import ArgParser
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from pybullet_utils.logger import Logger
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import sys
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def build_arg_parser(args):
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arg_parser = ArgParser()
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arg_parser.load_args(args)
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arg_file = arg_parser.parse_string('arg_file', '')
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if (arg_file != ''):
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path = pybullet_data.getDataPath()+"/args/"+arg_file
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succ = arg_parser.load_file(path)
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Logger.print2(arg_file)
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assert succ, Logger.print2('Failed to load args from: ' + arg_file)
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return arg_parser
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args = sys.argv[1:]
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arg_parser = build_arg_parser(args)
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motion_file = arg_parser.parse_string("motion_file")
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print("motion_file=",motion_file)
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bodies = arg_parser.parse_ints("fall_contact_bodies")
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print("bodies=",bodies)
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int_output_path = arg_parser.parse_string("int_output_path")
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print("int_output_path=",int_output_path) |