def __init__(self, env_name='walk'):
self.world = pydart.World(1. / 1200.,
"../data/woody_with_ground_v2.xml")
self.world.control_skel = self.world.skeletons[1]
self.skel = self.world.skeletons[1]
self.Kp, self.Kd = 400., 40.
self.pdc = PDController(self.skel, self.world.time_step(), 400., 40.)
self.env_name = env_name
self.ref_motion = None # type: ym.Motion
if env_name == 'walk':
self.ref_motion = yf.readBvhFile(
"../data/woody_walk_normal.bvh")[40:]
elif env_name == 'spiral_walk':
self.ref_motion = yf.readBvhFile(
"../data/wd2_spiral_walk_normal05.bvh")
elif env_name == 'walk_spin':
self.ref_motion = yf.readBvhFile(
"../data/wd2_2foot_walk_turn2.bvh")
elif env_name == 'jump':
self.ref_motion = yf.readBvhFile("../data/wd2_jump0.bvh")[164:280]
elif env_name == 'walk_fast':
self.ref_motion = yf.readBvhFile(
"../data/wd2_WalkForwardVFast00.bvh")
elif env_name == 'walk_left_90':
self.ref_motion = yf.readBvhFile("../data/walk_left_90degree.bvh")
elif env_name == 'walk_left_45':
self.ref_motion = yf.readBvhFile("../data/walk_left_45degree.bvh")
elif env_name == 'walk_pick':
self.ref_motion = yf.readBvhFile("../data/wd2_pick_walk_1.bvh")
elif env_name == 'walk_u_turn':
self.ref_motion = yf.readBvhFile("../data/wd2_u-turn.bvh")[25:214]
self.ref_motion.translateByOffset([0., 0.03, 0.])
elif env_name == 'jump_whole':
self.ref_motion = yf.readBvhFile("../data/wd2_jump0.bvh")[315:966]
elif env_name == 'walk_u_turn_whole':
self.ref_motion = yf.readBvhFile("../data/wd2_u-turn.bvh")
self.ref_motion.translateByOffset([0., 0.03, 0.])
self.ref_world = pydart.World(1. / 1200.,
"../data/woody_with_ground.xml")
self.ref_skel = self.ref_world.skeletons[1]
# self.step_per_frame = round((1./self.world.time_step()) / self.ref_motion.fps)
self.step_per_frame = 40
self.rsi = True
self.w_p = 0.65
self.w_v = 0.1
self.w_e = 0.15
self.w_c = 0.1
self.exp_p = 2.
self.exp_v = 0.1
self.exp_e = 40.
self.exp_c = 10.
self.body_num = self.skel.num_bodynodes()
self.idx_e = [
self.skel.bodynode_index('LeftFoot'),
self.skel.bodynode_index('RightFoot'),
self.skel.bodynode_index('LeftForeArm'),
self.skel.bodynode_index('RightForeArm')
]
self.body_e = list(map(self.skel.body, self.idx_e))
self.ref_body_e = list(map(self.ref_skel.body, self.idx_e))
self.motion_len = len(self.ref_motion)
self.motion_time = len(self.ref_motion) / self.ref_motion.fps
self.time_offset = 0.
state_num = 1 + (3 * 3 + 4) * self.body_num
action_num = self.skel.num_dofs() - 6
state_high = np.array([np.finfo(np.float32).max] * state_num)
action_high = np.array([pi * 10. / 2.] * action_num)
self.action_space = gym.spaces.Box(-action_high,
action_high,
dtype=np.float32)
self.observation_space = gym.spaces.Box(-state_high,
state_high,
dtype=np.float32)
self.viewer = None
self.phase_frame = 0
# max training time
self.training_time = 3.
self.evaluation = False
self.visualize = False
self.visualize_select_motion = 0
def __init__(self, env_name='walk'):
self.skel_file_name = '../data/cmu_with_ground.xml'
self.world = pydart.World(1. / 1200., self.skel_file_name)
self.world.control_skel = self.world.skeletons[1]
self.skel = self.world.skeletons[1]
self.Kp, self.Kd = 400., 40.
self.pdc = PDController(self.skel, self.world.time_step(), 400., 40.)
self.env_name = env_name
self.ref_world = pydart.World(1. / 1200., self.skel_file_name)
self.ref_skel = self.ref_world.skeletons[1]
self.step_per_frame = 40
self.rnn = RNNController(env_name)
self.RNN_MOTION_SCALE = 0.01
self.rnn_joint_list = [
"Head", "Hips", "LHipJoint", "LeftArm", "LeftFoot", "LeftForeArm",
"LeftHand", "LeftLeg", "LeftShoulder", "LeftToeBase", "LeftUpLeg",
"LowerBack", "Neck", "Neck1", "RHipJoint", "RightArm", "RightFoot",
"RightForeArm", "RightHand", "RightLeg", "RightShoulder",
"RightToeBase", "RightUpLeg", "Spine", "Spine1"
]
self.rnn_target_update_prob = 1. / 150.
self.ik = DartIk(self.ref_skel)
self.rsi = True
self.w_g = 0.3
self.w_p = 0.65 * .7
self.w_v = 0.1 * .7
self.w_e = 0.15 * .7
self.w_c = 0.1 * .7
self.exp_g = 2.5
self.exp_p = 2.
self.exp_v = 0.1
self.exp_e = 40.
self.exp_c = 10.
self.body_num = self.skel.num_bodynodes()
self.idx_e = [
self.skel.bodynode_index('LeftFoot'),
self.skel.bodynode_index('RightFoot'),
self.skel.bodynode_index('LeftHand'),
self.skel.bodynode_index('RightHand')
]
self.body_e = list(map(self.skel.body, self.idx_e))
self.ref_body_e = list(map(self.ref_skel.body, self.idx_e))
self.time_offset = 0.
self.step_num = 0
# state_num = 2 + (3*3 + 4) * self.body_num
state_num = 2 + 2 * 3 * self.body_num + 3 * (self.skel.num_dofs() - 3)
action_num = self.skel.num_dofs() - 6
state_high = np.array([np.finfo(np.float32).max] * state_num)
action_high = np.array([pi * 10. / 2.] * action_num)
self.action_space = gym.spaces.Box(-action_high,
action_high,
dtype=np.float32)
self.observation_space = gym.spaces.Box(-state_high,
state_high,
dtype=np.float32)
self.viewer = None
self.phase_frame = 0
self.goal = np.zeros(2)
self.goal_prev = self.goal.copy()
self.goal_in_world_frame = np.zeros(3)
self.first = True
self.prev_ref_q = self.ref_skel.positions()
self.prev_ref_dq = np.zeros(self.ref_skel.num_dofs())
self.prev_ref_p_e = np.asarray([
body.world_transform()[:3, 3] for body in self.ref_body_e
]).flatten()
self.prev_ref_com = self.ref_skel.com()
def __init__(self):
self.world = pydart.World(1./1200., "../data/woody_with_ground.xml")
self.world.control_skel = self.world.skeletons[1]
self.skel = self.world.skeletons[1]
self.pdc = PDController(self.skel, self.world.time_step(), 400., 40.)
self.Kp, self.Kd = 400., 40.
self.ik = DartIk(self.skel)
self.ref_motions = list() # type: list[ym.Motion]
self.ref_motions.append(yf.readBvhFile("../data/woody_walk_normal.bvh")[40:])
self.ref_motions.append(yf.readBvhFile("../data/wd2_WalkForwardVFast00.bvh"))
self.ref_motions.append(yf.readBvhFile("../data/wd2_WalkForwardSlow01.bvh"))
self.ref_motions.append(yf.readBvhFile("../data/walk_right_45degree.bvh")[21:134])
self.ref_motions.append(yf.readBvhFile("../data/walk_left_45degree.bvh")[26:141])
# self.ref_motions.append(yf.readBvhFile("../data/walk_left_90degree.bvh")[21:153])
# self.ref_motions.append(yf.readBvhFile('../data/wd2_WalkSukiko00.bvh'))
# self.ref_motions.append(yf.readBvhFile("../data/wd2_jump0.bvh")[164:280])
# self.ref_motions.append(yf.readBvhFile("../data/wd2_u-turn.bvh")[25:214])
# self.ref_motions[-1].translateByOffset([0., 0.03, 0.])
self.motion_num = len(self.ref_motions)
self.reward_weights_by_fps = [self.ref_motions[0].fps / self.ref_motions[i].fps for i in range(self.motion_num)]
self.ref_motion = self.ref_motions[0]
self.ref_world = pydart.World(1./1200., "../data/woody_with_ground.xml")
self.ref_skel = self.ref_world.skeletons[1]
self.step_per_frame = None
self.rsi = True
self.specified_motion_num = 0
self.is_motion_specified = False
# self.w_g = 0.3
# self.w_p = 0.65 * .7
# self.w_v = 0.1 * .7
# self.w_e = 0.15 * .7
# self.w_c = 0.1 * .7
self.w_p = 0.65
self.w_v = 0.1
self.w_e = 0.15
self.w_c = 0.1
self.exp_g = 2.5
self.exp_p = 2.
self.exp_v = 0.1
self.exp_e = 40.
self.exp_c = 10.
self.body_num = self.skel.num_bodynodes()
self.idx_e = [self.skel.bodynode_index('LeftFoot'), self.skel.bodynode_index('RightFoot'),
self.skel.bodynode_index('LeftForeArm'), self.skel.bodynode_index('RightForeArm')]
self.body_e = list(map(self.skel.body, self.idx_e))
self.ref_body_e = list(map(self.ref_skel.body, self.idx_e))
self.motion_len = len(self.ref_motion)
self.goals_in_world_frame = list()
self.goal = np.zeros(2)
self.goals = list()
self.goal_window = 45
state_num = 3*self.goal_window + (3*3 + 4) * self.body_num
# action_num = self.skel.num_dofs() - 6
action_num = self.skel.num_dofs()
state_high = np.array([np.finfo(np.float32).max] * state_num)
action_high = np.array([pi*2.] * action_num)
self.action_space = gym.spaces.Box(-action_high, action_high, dtype=np.float32)
self.observation_space = gym.spaces.Box(-state_high, state_high, dtype=np.float32)
self.viewer = None
self.phase_frame = 0
self.prev_ref_q = np.zeros(self.ref_skel.num_dofs())
self.prev_ref_dq = np.zeros(self.ref_skel.num_dofs())
self.prev_ref_p_e_hat = np.asarray([body.world_transform()[:3, 3] for body in self.ref_body_e]).flatten()
self.prev_ref_com = self.ref_skel.com()
# setting for reward
self.reward_joint = list()
self.reward_joint.append('j_RightUpLeg')
self.reward_joint.append('j_RightLeg')
self.reward_joint.append('j_LeftUpLeg')
self.reward_joint.append('j_LeftLeg')
self.reward_joint.append('j_Spine')
self.reward_joint.append('j_Spine1')
self.reward_joint.append('j_RightArm')
self.reward_joint.append('j_RightForeArm')
self.reward_joint.append('j_LeftArm')
self.reward_joint.append('j_LeftForeArm')
def __init__(self, rnn_len):
skel_file = '../data/cmu_with_ground.xml'
self.world = pydart.World(1./1200., skel_file)
self.world.control_skel = self.world.skeletons[1]
self.skel = self.world.skeletons[1]
self.Kp, self.Kd = 800., 40.
self.pdc = PDController(self.skel, self.world.time_step(), 400., 40.)
self.ref_motion = yf.readBvhFile("../data/cmu_tpose.bvh")[:rnn_len]
self.ref_motion_len = rnn_len
self.ref_world = pydart.World(1./1200., skel_file)
self.ref_skel = self.ref_world.skeletons[1]
self.step_per_frame = 40
self.rsi = True
# self.w_g = 0.3
# self.w_p = 0.65 * .7
# self.w_v = 0.1 * .7
# self.w_e = 0.15 * .7
# self.w_c = 0.1 * .7
self.w_p = 0.65
self.w_v = 0.1
self.w_e = 0.15
self.w_c = 0.1
self.exp_g = 2.5
self.exp_p = 2.
self.exp_v = 0.1
self.exp_e = 40.
self.exp_c = 10.
self.body_num = self.skel.num_bodynodes()
self.idx_e = [self.skel.bodynode_index('LeftFoot'), self.skel.bodynode_index('RightFoot'),
self.skel.bodynode_index('LeftHand'), self.skel.bodynode_index('RightHand')]
self.body_e = list(map(self.skel.body, self.idx_e))
self.ref_body_e = list(map(self.ref_skel.body, self.idx_e))
self.motion_len = len(self.ref_motion)
self.motion_time = len(self.ref_motion) / self.ref_motion.fps
state_num = 2 + (3*3 + 4) * self.body_num + (3 + 4) * self.body_num
action_num = self.skel.num_dofs() - 6
state_high = np.array([np.finfo(np.float32).max] * state_num)
action_high = np.array([pi*10./2.] * action_num)
self.action_space = gym.spaces.Box(-action_high, action_high, dtype=np.float32)
self.observation_space = gym.spaces.Box(-state_high, state_high, dtype=np.float32)
self.viewer = None
self.phase_frame = 0
self.goals_in_world_frame = list()
self.goal = np.zeros(2)
self.prev_ref_q = np.zeros(self.ref_skel.num_dofs())
self.prev_ref_dq = np.zeros(self.ref_skel.num_dofs())
self.prev_ref_p_e_hat = np.asarray([body.world_transform()[:3, 3] for body in self.ref_body_e]).flatten()
self.prev_ref_com = self.ref_skel.com()
self.prev_goal = np.zeros(2)
def __init__(self, env_slaves=1):
self.world = pydart.World(1. / 1200., "../data/woody_with_ground.xml")
self.world.control_skel = self.world.skeletons[1]
self.skel = self.world.skeletons[1]
self.pdc = PDController(self.skel, self.world.time_step(), 400., 40.)
self.Kp, self.Kd = 400., 40.
self.ref_motions = list() # type: list[ym.Motion]
self.ref_motions.append(
yf.readBvhFile("../data/woody_walk_normal.bvh")[40:])
# self.ref_motions.append(yf.readBvhFile("../data/wd2_jump0.bvh")[164:280])
self.ref_motions.append(yf.readBvhFile('../data/wd2_WalkSukiko00.bvh'))
self.ref_motions.append(
yf.readBvhFile("../data/walk_left_90degree.bvh"))
self.ref_motions.append(
yf.readBvhFile("../data/wd2_u-turn.bvh")[25:214])
self.ref_motions[-1].translateByOffset([0., 0.03, 0.])
self.ref_motions.append(
yf.readBvhFile("../data/wd2_WalkForwardVFast00.bvh"))
self.motion_num = len(self.ref_motions)
self.reward_weights_by_fps = [
self.ref_motions[0].fps / self.ref_motions[i].fps
for i in range(self.motion_num)
]
self.ref_motion = self.ref_motions[0]
self.ref_world = pydart.World(1. / 1200.,
"../data/woody_with_ground.xml")
self.ref_skel = self.ref_world.skeletons[1]
self.step_per_frame = None
self.rsi = True
self.specified_motion_num = 0
self.is_motion_specified = False
self.w_p = 0.65
self.w_v = 0.1
self.w_e = 0.15
self.w_c = 0.1
self.exp_p = 2.
self.exp_v = 0.1
self.exp_e = 40.
self.exp_c = 10.
self.body_num = self.skel.num_bodynodes()
self.idx_e = [
self.skel.bodynode_index('LeftFoot'),
self.skel.bodynode_index('RightFoot'),
self.skel.bodynode_index('LeftForeArm'),
self.skel.bodynode_index('RightForeArm')
]
self.body_e = list(map(self.skel.body, self.idx_e))
self.ref_body_e = list(map(self.ref_skel.body, self.idx_e))
self.motion_time = len(self.ref_motion) / self.ref_motion.fps
self.time_offset = 0.
state_num = 2 + (3 * 3 + 4) * self.body_num
action_num = self.skel.num_dofs() - 6
state_high = np.array([np.finfo(np.float32).max] * state_num)
action_high = np.array([pi * 10. / 2.] * action_num)
self.action_space = gym.spaces.Box(-action_high,
action_high,
dtype=np.float32)
self.observation_space = gym.spaces.Box(-state_high,
state_high,
dtype=np.float32)
self.viewer = None