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implement deepmimic reward function (only joint angles/velocities for now) fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp
85 lines
2.2 KiB
Python
85 lines
2.2 KiB
Python
import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(os.path.dirname(currentdir))
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os.sys.path.insert(0,parentdir)
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from pybullet_envs.mimic.humanoid import Humanoid
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from pybullet_utils.bullet_client import BulletClient
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from pybullet_envs.mimic.motion_capture_data import MotionCaptureData
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import pybullet_data
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import pybullet
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import time
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import random
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bc = BulletClient(connection_mode=pybullet.GUI)
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bc.setAdditionalSearchPath(pybullet_data.getDataPath())
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bc.configureDebugVisualizer(bc.COV_ENABLE_Y_AXIS_UP,1)
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bc.setGravity(0,-9.8,0)
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motion=MotionCaptureData()
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motionPath = pybullet_data.getDataPath()+"/motions/humanoid3d_walk.txt"#humanoid3d_spinkick.txt"#/motions/humanoid3d_backflip.txt"
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motion.Load(motionPath)
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#print("numFrames = ", motion.NumFrames())
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simTimeId= bc.addUserDebugParameter("simTime",0,motion.NumFrames()-1.1,0)
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y2zOrn = bc.getQuaternionFromEuler([-1.57,0,0])
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bc.loadURDF("plane.urdf",[0,-0.04,0], y2zOrn)
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humanoid = Humanoid(bc, motion,[0,0,0])#4000,0,5000])
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simTime = 0
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keyFrameDuration = motion.KeyFrameDuraction()
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#print("keyFrameDuration=",keyFrameDuration)
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#for i in range (50):
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# bc.stepSimulation()
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stage = 0
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def Reset(humanoid):
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global simTime
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humanoid.Reset()
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simTime = 0 #random.randint(0,motion.NumFrames()-2)
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humanoid.SetSimTime(simTime)
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pose = humanoid.InitializePoseFromMotionData()
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humanoid.ApplyPose(pose, True, True, humanoid._humanoid,bc)
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Reset(humanoid)
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#bc.stepSimulation()
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while (1):
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#simTime = bc.readUserDebugParameter(frameTimeId)
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#print("keyFrameDuration=",keyFrameDuration)
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dt = (1./240.)
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#print("------------------------------------------")
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#print("dt=",dt)
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#print("simTime=",simTime)
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#print("humanoid.SetSimTime(simTime)")
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humanoid.SetSimTime(simTime)
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#pose = humanoid.InitializePoseFromMotionData()
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#humanoid.ApplyPose(pose, True)#False)#False, False)
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if (humanoid.Terminates()):
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Reset(humanoid)
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state = humanoid.GetState()
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action = [0]*36
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humanoid.ApplyAction(action)
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for s in range (8):
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#print("step:",s)
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bc.stepSimulation()
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simTime += dt
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time.sleep(1./240.)
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reward = humanoid.GetReward()
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print("reward=",reward)
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