def build_arg_parser(args):
arg_parser = ArgParser()
arg_parser.load_args(args)
arg_file = arg_parser.parse_string('arg_file', '')
if (arg_file != ''):
path = pybullet_data.getDataPath() + "/args/" + arg_file
succ = arg_parser.load_file(path)
Logger.print2(arg_file)
assert succ, Logger.print2('Failed to load args from: ' + arg_file)
return arg_parser
def build_arg_parser(args):
arg_parser = ArgParser()
arg_parser.load_args(args)
arg_file = arg_parser.parse_string('arg_file', '')
if (arg_file != ''):
path = pybullet_data.getDataPath() + "/args/" + arg_file
succ = arg_parser.load_file(path)
Logger.print2(arg_file)
assert succ, Logger.print2('Failed to load args from: ' + arg_file)
return arg_parser
def main():
# Command line arguments
args = sys.argv[1:]
arg_parser = ArgParser()
arg_parser.load_args(args)
num_workers = arg_parser.parse_int('num_workers', 1)
assert (num_workers > 0)
Logger.print2('Running with {:d} workers'.format(num_workers))
cmd = 'mpiexec -n {:d} python3 DeepMimic_Optimizer.py '.format(num_workers)
cmd += ' '.join(args)
Logger.print2('cmd: ' + cmd)
subprocess.call(cmd, shell=True)
def main():
# Command line arguments
args = sys.argv[1:]
arg_parser = ArgParser()
arg_parser.load_args(args)
num_workers = arg_parser.parse_int('num_workers', 1)
assert (num_workers > 0)
Logger.print2('Running with {:d} workers'.format(num_workers))
cmd = 'mpiexec -n {:d} python3 DeepMimic_Optimizer.py '.format(num_workers)
cmd += ' '.join(args)
Logger.print2('cmd: ' + cmd)
subprocess.call(cmd, shell=True)
return
def build_arg_parser(args):
arg_parser = ArgParser()
arg_parser.load_args(args)
arg_file = arg_parser.parse_string('arg_file', '')
if arg_file == '':
arg_file = "run_humanoid3d_backflip_args.txt"
if (arg_file != ''):
path = pybullet_data.getDataPath() + "/args/" + arg_file
if os.path.isfile(path):
succ = arg_parser.load_file(path)
else:
files = [arg_parser.load_file(f) for f in os.listdir(path) if os.path.isfile(os.path.join(path, f))]
succ = all(files)
Logger.print2(arg_file)
assert succ, Logger.print2('Failed to load args from: ' + arg_file)
return arg_parser
import sys
import pybullet_data
from learning.rl_world import RLWorld
from pybullet_utils.arg_parser import ArgParser
from env.pybullet_deep_mimic_gym_env import PyBulletDeepMimicEnv
if __name__ == '__main__':
enable_draw = True
timestep = 1. / 240.
args = sys.argv[1:]
arg_parser = ArgParser()
arg_parser.load_args(args)
arg_file = arg_parser.parse_string('arg_file',
"run_humanoid3d_spinkick_args.txt")
arg_parser.load_file(pybullet_data.getDataPath() + "/args/" + arg_file)
motion_file = arg_parser.parse_strings('motion_file')
fall_contact_bodies = arg_parser.parse_ints("fall_contact_bodies")
env = PyBulletDeepMimicEnv(motion_file, enable_draw, fall_contact_bodies)
world = RLWorld(env, arg_parser)
world.reset()
total_reward = 0
steps = 0