def reset(self):
# use the initialization strategy
if self._internal_env is None:
if self.test_mode:
init_strat = InitializationStrategy.START
else:
init_strat = InitializationStrategy.RANDOM
self._internal_env = PyBulletDeepMimicEnv(
self._arg_parser,
self._renders,
time_step=self._time_step,
init_strategy=init_strat)
self._internal_env.reset()
self._p = self._internal_env._pybullet_client
agent_id = self.agent_id # unused here
self._state_offset = self._internal_env.build_state_offset(
self.agent_id)
self._state_scale = self._internal_env.build_state_scale(self.agent_id)
self._action_offset = self._internal_env.build_action_offset(
self.agent_id)
self._action_scale = self._internal_env.build_action_scale(
self.agent_id)
self._numSteps = 0
# Record state
self.state = self._internal_env.record_state(agent_id)
# return state as ndarray
state = np.array(self.state)
if self._rescale_observations:
mean = -self._state_offset
std = 1. / self._state_scale
state = (state - mean) / (std + 1e-8)
return state
def build_world(args, enable_draw):
arg_parser = build_arg_parser(args)
print("enable_draw=", enable_draw)
env = PyBulletDeepMimicEnv(args, enable_draw)
world = RLWorld(env, arg_parser)
#world.env.set_playback_speed(playback_speed)
motion_file = arg_parser.parse_string("motion_file")
print("motion_file=", motion_file)
bodies = arg_parser.parse_ints("fall_contact_bodies")
print("bodies=", bodies)
int_output_path = arg_parser.parse_string("int_output_path")
print("int_output_path=", int_output_path)
agent_files = pybullet_data.getDataPath() + "/" + arg_parser.parse_string(
"agent_files")
AGENT_TYPE_KEY = "AgentType"
print("agent_file=", agent_files)
with open(agent_files) as data_file:
json_data = json.load(data_file)
print("json_data=", json_data)
assert AGENT_TYPE_KEY in json_data
agent_type = json_data[AGENT_TYPE_KEY]
print("agent_type=", agent_type)
agent = PPOAgent(world, id, json_data)
agent.set_enable_training(True)
world.reset()
return world
def reset(self):
# print("-----------reset simulation---------------")
if self._internal_env == None:
self._internal_env = PyBulletDeepMimicEnv(self._arg_parser,
self._renders)
self._internal_env.reset()
self._p = self._internal_env._pybullet_client
agent_id = -1 #unused here
state = self._internal_env.record_state(agent_id)
return state
def build_world(enable_draw, arg_file):
arg_parser = ArgParser()
arg_parser.load_file(arg_file)
arg_parser.parse_string("motion_file")
env = PyBulletDeepMimicEnv(arg_parser=arg_parser, enable_draw=enable_draw)
world = RLWorld(env, arg_parser)
agent_data = load_agent_data(agent_file)
PPOAgent(world=world, id=id, json_data=agent_data)
return world