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
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 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 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
while True:
