def MakeGenerationModel(self):
filePath = self.Config.FilePath
hasBest = os.path.exists(filePath.BestModel.Config)
hasBest |= os.path.exists(filePath.BestModel.Weight)
hasNext = os.path.exists(filePath.NextGeneration.Config)
hasNext |= os.path.exists(filePath.NextGeneration.Weight)
if hasBest == False:
model = MujocoModelHumanoid()
env = MujocoEnv(model)
dataDir = self.Config.Task.TrainDir
dataList = os.listdir(dataDir)
task = MujocoTask(model, dataDir+"/"+dataList[0])
net = NetworkModel()
net.Build(self.Config.Build, env.GetObservationShape(task), env.GetActionNum(), self.Config.Worker.InitialTimeLimit)
print("Make best model")
net.Save(filePath.BestModel.Config, filePath.BestModel.Weight)
if hasNext == False:
print("Make next generation model from copy of best model")
shutil.copyfile(filePath.BestModel.Config, filePath.NextGeneration.Config)
shutil.copyfile(filePath.BestModel.Weight, filePath.NextGeneration.Weight)
def MakeHopperTask(self, modelNum, trainNum, taskTrainDir, evalNum,
taskEvalDir):
env = MujocoEnv(self)
state = env.GetSimState()
jsons = []
for j in range(modelNum):
if j != 0:
state.qpos[env.Model.MujocoModel.get_joint_qpos_addr(
"rootx")] = random.uniform(-0.8, 0.8)
state.qpos[env.Model.MujocoModel.get_joint_qpos_addr(
"rootz")] = random.uniform(2, 2)
state.qpos[env.Model.MujocoModel.get_joint_qpos_addr(
"thigh_joint")] = pt = random.uniform(-0.1, -0.5)
state.qpos[env.Model.MujocoModel.get_joint_qpos_addr(
"leg_joint")] = pl = random.uniform(-0.1, -0.5)
state.qpos[env.Model.MujocoModel.get_joint_qpos_addr(
"rooty")] = random.uniform(-0.2, 0.2) + (pt + pl) / 2
state.qpos[env.Model.MujocoModel.get_joint_qpos_addr(
"foot_joint")] = random.uniform(-0.5, 0.5)
env.SetSimState(state)
ok = False
for i in range(400):
env.Step(env.GetActionNum() - 1)
sensor = env.GetSensorValue(3, "a_foot_joint")
if sensor[2] >= 20 and i >= 10:
ok = True
break
if ok == False:
continue
joints = [
'thigh_joint', 'leg_joint', 'foot_joint', 'rooty', 'rootx',
'rootz'
]
task = {}
for i in joints:
task[i] = env.GetSensorValue(1, "jp_" + i)[0]
jsons.append(task)
for i in range(trainNum):
filePath = taskTrainDir + "/TrainTask" + str(i) + ".task"
print(filePath)
task1 = random.choice(jsons)
task2 = jsons[0]
with open(filePath, "wt") as f:
json.dump(list([task1, task2]), f)
for i in range(evalNum):
filePath = taskEvalDir + "/EvalTask" + str(i) + ".task"
print(filePath)
task1 = random.choice(jsons)
task2 = jsons[0]
with open(filePath, "wt") as f:
json.dump(list([task1, task2]), f)