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https://github.com/bulletphysics/bullet3
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enable planar reflection in minitaur_gym_env.py and locomotion scenes
This commit is contained in:
erwincoumans
parent
1f756cfb8d
commit
c2869e0a3c
@ -509,6 +509,16 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, in
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b3Assert(pg);
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int srcIndex = pg->m_internalInstanceIndex;
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int shapeIndex = pg->m_shapeIndex;
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b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
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if (color[3]<1)
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{
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gfxObj->m_flags |= eGfxTransparency;
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} else
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{
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gfxObj->m_flags &= ~eGfxTransparency;
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}
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m_data->m_instance_colors_ptr[srcIndex*4+0]=float(color[0]);
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m_data->m_instance_colors_ptr[srcIndex*4+1]=float(color[1]);
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m_data->m_instance_colors_ptr[srcIndex*4+2]=float(color[2]);
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@ -520,6 +530,16 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int
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b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
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b3Assert(pg);
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int srcIndex = pg->m_internalInstanceIndex;
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int shapeIndex = pg->m_shapeIndex;
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b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
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if (color[3]<1)
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{
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gfxObj->m_flags |= eGfxTransparency;
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} else
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{
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gfxObj->m_flags &= ~eGfxTransparency;
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}
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m_data->m_instance_colors_ptr[srcIndex*4+0]=color[0];
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m_data->m_instance_colors_ptr[srcIndex*4+1]=color[1];
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@ -2344,8 +2364,11 @@ b3Assert(glGetError() ==GL_NO_ERROR);
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int shapeIndex = transparentInstances[i].m_shapeIndex;
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//during a reflectionPlanePass, only draw the plane, nothing else
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if ((shapeIndex!=m_planeReflectionShapeIndex) && reflectionPlanePass)
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continue;
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if (reflectionPlanePass)
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{
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if (shapeIndex!=m_planeReflectionShapeIndex)
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continue;
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}
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b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
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@ -177,7 +177,9 @@ class MinitaurBulletEnv(gym.Env):
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self._pybullet_client.setPhysicsEngineParameter(
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numSolverIterations=int(self._num_bullet_solver_iterations))
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self._pybullet_client.setTimeStep(self._time_step)
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self._pybullet_client.loadURDF("%s/plane.urdf" % self._urdf_root)
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plane = self._pybullet_client.loadURDF("%s/plane.urdf" % self._urdf_root)
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self._pybullet_client.changeVisualShape(plane,-1,rgbaColor=[1,1,1,0.9])
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self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION,0)
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self._pybullet_client.setGravity(0, 0, -10)
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acc_motor = self._accurate_motor_model_enabled
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motor_protect = self._motor_overheat_protection
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@ -252,8 +254,16 @@ class MinitaurBulletEnv(gym.Env):
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if time_to_sleep > 0:
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time.sleep(time_to_sleep)
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base_pos = self.minitaur.GetBasePosition()
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camInfo = self._pybullet_client.getDebugVisualizerCamera()
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curTargetPos = camInfo[11]
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distance=camInfo[10]
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yaw = camInfo[8]
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pitch=camInfo[9]
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targetPos = [0.95*curTargetPos[0]+0.05*base_pos[0],0.95*curTargetPos[1]+0.05*base_pos[1],curTargetPos[2]]
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self._pybullet_client.resetDebugVisualizerCamera(
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self._cam_dist, self._cam_yaw, self._cam_pitch, base_pos)
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distance, yaw, pitch, base_pos)
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action = self._transform_action_to_motor_command(action)
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for _ in range(self._action_repeat):
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self.minitaur.ApplyAction(action)
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@ -1,523 +0,0 @@
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#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(os.path.dirname(currentdir))
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os.sys.path.insert(0,parentdir)
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import gym
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import numpy as np
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import pybullet as p
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import pybullet_envs
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import time
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def relu(x):
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return np.maximum(x, 0)
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class SmallReactivePolicy:
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"Simple multi-layer perceptron policy, no internal state"
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def __init__(self, observation_space, action_space):
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assert weights_dense1_w.shape == (observation_space.shape[0], 256)
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assert weights_dense2_w.shape == (256, 128)
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assert weights_final_w.shape == (128, action_space.shape[0])
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def act(self, ob):
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ob[0] += -1.4 + 0.8
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x = ob
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x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
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x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
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x = np.dot(x, weights_final_w) + weights_final_b
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return x
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def main():
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env = gym.make("HumanoidFlagrunBulletEnv-v0")
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env.render(mode="human")
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pi = SmallReactivePolicy(env.observation_space, env.action_space)
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env.reset()
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torsoId = -1
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for i in range (p.getNumBodies()):
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print(p.getBodyInfo(i))
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if (p.getBodyInfo(i)[0].decode() == "torso"):
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torsoId=i
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print("found humanoid torso")
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while 1:
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frame = 0
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score = 0
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restart_delay = 0
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obs = env.reset()
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while 1:
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a = pi.act(obs)
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obs, r, done, _ = env.step(a)
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score += r
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frame += 1
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distance=5
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yaw = 0
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humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
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time.sleep(1./60.)
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#print("frame=",frame)
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camInfo = p.getDebugVisualizerCamera()
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curTargetPos = camInfo[11]
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distance=camInfo[10]
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yaw = camInfo[8]
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pitch=camInfo[9]
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targetPos = [0.95*curTargetPos[0]+0.05*humanPos[0],0.95*curTargetPos[1]+0.05*humanPos[1],curTargetPos[2]]
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p.resetDebugVisualizerCamera(distance,yaw,pitch,targetPos);
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still_open = env.render("human")
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if still_open==False:
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return
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if not done: continue
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if restart_delay==0:
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print("score=%0.2f in %i frames" % (score, frame))
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restart_delay = 60*2 # 2 sec at 60 fps
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else:
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restart_delay -= 1
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if restart_delay==0: break
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weights_dense1_w = np.array([
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[ -0.1328, -0.1606, -0.5328, -0.1714, +0.0798, +0.1607, +0.5345, +0.4926, +0.0454, +0.3098, +0.3165, -0.3178, -0.4265, -0.1685, -0.2407, -0.1614, -0.4565, -0.1485, +0.3415, +0.4815, +0.0540, +0.3653, -0.3131, -0.0677, +0.1913, +0.1092, +0.0475, +0.1552, -0.4596, -0.0515, +0.0605, -0.0343, -0.2491, +0.1436, +0.3888, +0.3832, +0.1366, -0.3830, +0.0979, -0.6161, +0.1288, -0.0175, +0.2333, +0.1926, +0.2283, +0.1058, +0.4270, -0.0245, -0.3222, -0.0520, -0.0490, +0.2070, -0.2569, +0.5236, -0.0205, +0.4042, -0.0124, -0.1895, +0.0883, +0.2288, +0.0899, -0.4151, -0.2561, -0.0085, +0.0580, -0.0653, -0.2466, +0.4387, +0.3449, -0.1397, +0.2822, -0.0421, +0.0436, +0.3260, +0.1063, +0.0075, +0.2965, -0.2654, -0.5248, +0.3158, +0.2857, -0.1577, +0.0051, -0.0385, +0.3359, -0.3426, +0.3114, +0.0723, -0.3686, -0.3469, -0.1641, -0.3692, +0.1128, -0.4488, -0.2486, +0.1548, -0.1178, +0.0463, +0.0702, +0.0241, -0.6284, +0.0075, +0.1511, +0.2782, -0.4123, +0.9291, -0.1091, +0.0855, -0.1492, +0.3177, -0.4085, -0.1947, -0.2322, +0.0332, +0.5842, -0.3053, +0.0257, +0.0100, -0.2431, -0.4065, +0.5836, -0.4555, +0.2640, -0.2583, -0.2102, -0.1647, +0.3289, +0.4032, -0.3753, +0.7903, +0.1497, +0.3413, -0.3214, -0.2844, -0.0714, -0.2065, -0.1345, -0.2788, +0.1493, +0.3718, -0.0986, +0.4025, -0.0977, -0.5767, -0.0381, +0.7644, +0.2361, +0.1323, +0.1403, -0.2588, +0.5336, -0.0563, +0.2527, +0.2719, +0.7449, +0.2638, -0.2394, +0.0762, +0.0298, +0.5269, -0.3359, +0.2320, -0.7261, +0.1083, -0.3753, +0.3203, -0.0917, +0.3447, +0.1378, +0.6644, -0.1918, -0.0294, -0.1627, -0.1286, -0.1075, -0.0030, +0.4697, +0.2741, +0.1766, +0.0192, -0.4330, +0.1567, -0.0318, +0.0954, +0.0740, -0.1572, +0.5720, -0.1338, -0.3160, -0.0764, -0.3246, -0.1118, +0.6287, +0.8194, -0.1309, -0.1432, +0.2214, -0.0949, +0.1593, +0.0906, +0.7504, +0.1575, -0.2944, -0.4333, +0.0835, -0.1874, -0.2915, +0.1207, +0.1382, +0.6302, -0.4901, -0.0213, +0.1370, +0.0727, -0.2363, +0.0253, -0.1981, -0.0936, +0.3603, -0.3047, +0.4927, -0.3511, +0.3201, -0.3573, +0.3901, -0.5445, -0.0432, +0.1748, -0.2054, +0.3963, -0.0982, -0.2480, -0.2167, +0.0575, +0.0609, -0.0247, +0.3744, -0.0294, -0.4537, +0.2662, +0.1316, +0.2317, +0.2936, +0.0489, +0.9492, +0.2136, +0.2650, -0.3814, +0.2094, -0.0880, +0.0176, -0.2509, -0.1303, +0.6557, -0.1558, -0.1399],
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||||
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])
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|
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weights_dense2_w = np.array([
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weights_dense2_b = np.array([ +0.2348, +0.1383, +0.0414, +0.0242, +0.1290, -0.0921, +0.0826, -0.0498, +0.1337, +0.0765, +0.0904, +0.2418, +0.1752, +0.0957, +0.0414, +0.1969, -0.0985, +0.0371, +0.1808, +0.1663, +0.1205, -0.0367, -0.0999, -0.1063, +0.0048, -0.1028, +0.1392, +0.0555, +0.1237, +0.1633, -0.1349, +0.0987, +0.0050, +0.2603, +0.0126, +0.0577, +0.1184, +0.1429, +0.2682, +0.0465, +0.2461, +0.0487, +0.1582, +0.1367, +0.1891, +0.1793, -0.1894, +0.1642, +0.1738, +0.0997, +0.1810, +0.2784, +0.0424, +0.1391, +0.2099, -0.1073, +0.1689, +0.0270, +0.0953, -0.0083, +0.1281, -0.0383, +0.1194, +0.2378, +0.1426, +0.1762, +0.1553, +0.1267, -0.0201, +0.2139, +0.0580, +0.1260, +0.0606, +0.0000, +0.1837, +0.1250, +0.1529, +0.0458, +0.0951, +0.2391, +0.0399, +0.1520, +0.0193, -0.0101, +0.1513, -0.0460, +0.0539, +0.0823, +0.0038, -0.1066, +0.1756, -0.0458, +0.1482, +0.2161, -0.0275, +0.0023, -0.0702, +0.2849, -0.0156, +0.2604, +0.1535, +0.2057, -0.0429, +0.1953, +0.0911, +0.1547, +0.1088, +0.1309, +0.0301, +0.1955, +0.1797, +0.1478, +0.1173, -0.0536, -0.0523, +0.1347, +0.1602, +0.0357, +0.1057, +0.0603, +0.0096, +0.1199, +0.0220, +0.0653, +0.2066, +0.0876, +0.2465, +0.0949])
|
||||
|
||||
weights_final_w = np.array([
|
||||
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|
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|
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|
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|
||||
[ -0.0535, -0.1715, -0.0551, -0.0387, +0.3369, -0.0325, +0.1283, -0.0876, +0.1577, +0.0203, +0.0530, -0.1816, -0.1185, +0.0731, +0.0627, +0.0803, -0.0313],
|
||||
[ -0.0378, +0.3542, +0.1541, -0.0523, +0.0937, +0.5068, +0.0378, -0.3014, +0.0314, -0.2412, -0.0096, -0.1185, +0.1142, -0.0788, +0.1340, +0.3104, +0.0127],
|
||||
[ +0.0725, +0.0254, -0.3277, +0.0590, +0.4037, -0.0445, +0.2072, +0.2896, -0.2010, -0.0442, -0.1412, -0.1675, +0.0451, +0.1433, -0.0672, -0.0561, -0.0755],
|
||||
[ -0.1326, +0.2991, +0.0909, -0.1965, +0.2434, +0.1651, +0.0679, -0.0895, +0.0066, -0.0163, -0.1940, +0.0968, +0.2072, +0.0970, -0.0172, +0.2422, +0.0040],
|
||||
[ -0.0587, +0.0363, -0.5051, +0.3994, -0.0238, -0.0798, +0.0472, +0.2635, -0.0760, +0.3018, +0.0131, +0.4153, +0.3715, +0.0331, -0.1754, +0.2536, -0.0316],
|
||||
[ -0.3260, -0.1014, +0.0017, -0.2008, -0.1379, -0.0395, +0.0014, +0.0345, +0.1012, +0.0753, +0.0136, -0.2853, -0.0442, +0.0429, -0.1313, -0.2394, +0.0313],
|
||||
[ -0.2666, +0.1051, -0.0455, -0.0307, +0.2308, +0.0768, -0.0299, -0.0330, +0.0029, -0.0251, +0.0946, -0.0769, -0.0173, -0.0243, +0.0687, -0.0138, +0.0713],
|
||||
[ -0.0152, -0.2386, -0.0356, -0.1110, +0.0644, -0.1132, +0.1741, -0.1367, -0.1087, -0.1917, +0.0202, -0.1980, +0.0375, -0.0945, +0.0278, +0.0058, +0.0598],
|
||||
[ +0.4101, +0.2379, -0.0906, +0.1421, -0.1235, +0.0503, -0.4131, -0.1493, +0.0172, +0.6413, +0.0016, +0.6695, -0.2049, +0.0607, -0.3680, -0.0272, +0.0174],
|
||||
[ +0.0330, +0.1307, -0.2587, -0.0355, -0.0559, +0.2244, -0.0024, +0.2352, +0.0069, +0.0729, +0.0695, +0.0305, +0.1054, -0.0549, -0.1039, -0.1522, -0.0742],
|
||||
[ +0.0516, +0.2993, -0.1718, +0.2584, -0.1647, -0.2403, -0.1964, -0.2103, +0.0170, +0.1347, +0.1547, +0.1513, -0.1160, -0.1149, -0.0268, -0.2002, +0.1037],
|
||||
[ +0.1235, -0.0124, +0.0333, +0.3716, +0.0651, +0.1093, -0.1451, +0.0058, -0.0057, -0.0928, +0.1854, +0.0333, -0.3922, +0.0223, +0.1316, +0.1169, -0.1472],
|
||||
[ -0.2573, -0.1379, -0.2144, +0.0751, -0.1919, +0.0638, -0.0343, +0.0157, -0.0309, +0.0917, -0.1402, -0.1254, +0.2600, +0.0036, -0.2341, +0.3282, +0.0441],
|
||||
[ +0.0202, -0.2044, +0.1500, +0.1114, -0.0445, -0.4582, -0.2058, -0.0002, +0.1572, +0.2498, +0.0434, +0.0990, +0.0750, -0.0121, +0.0097, -0.0565, +0.0074],
|
||||
[ +0.0106, -0.0105, +0.2855, +0.0789, +0.1881, +0.0657, -0.0417, +0.1673, -0.0474, -0.0136, -0.1233, -0.0640, +0.0144, -0.0548, +0.1402, -0.0718, -0.0983],
|
||||
[ -0.0878, -0.0897, +0.3015, +0.0223, -0.1784, -0.1745, +0.1019, +0.0395, +0.0332, +0.0140, -0.0394, +0.3245, +0.0030, +0.0487, -0.1358, +0.0013, +0.1631],
|
||||
[ +0.0403, -0.3702, -0.0875, +0.0445, +0.0015, +0.0116, -0.0851, +0.1112, -0.1200, +0.0342, -0.1128, +0.0126, +0.0765, +0.0050, -0.0215, -0.0128, -0.0691],
|
||||
[ +0.0495, -0.1284, +0.0001, -0.0666, -0.0199, +0.2606, +0.0645, -0.0779, +0.0534, -0.0469, -0.0434, +0.0481, -0.1781, -0.1000, -0.1953, -0.1540, +0.0635],
|
||||
[ -0.1683, -0.1070, +0.0292, -0.1561, +0.0943, +0.1270, +0.0183, +0.0230, +0.1993, -0.3092, +0.0734, +0.1918, -0.1613, -0.1269, +0.5659, -0.3520, +0.0849],
|
||||
[ -0.2561, +0.0248, -0.0692, -0.2269, -0.1265, +0.0850, -0.1238, +0.0065, +0.0235, -0.1846, +0.2798, +0.0602, -0.0130, +0.0022, -0.1524, -0.2052, -0.0633],
|
||||
[ -0.0866, -0.1294, +0.0782, +0.2271, +0.0292, +0.2112, -0.1410, -0.2977, +0.0024, -0.2857, +0.0625, -0.1261, -0.1076, -0.0390, -0.1403, -0.7771, +0.1489],
|
||||
[ -0.0931, -0.0533, -0.2041, +0.0187, -0.0176, +0.0979, -0.0449, +0.0599, -0.1343, +0.0781, +0.0019, +0.0037, -0.2179, -0.0279, -0.0077, +0.1967, +0.1812],
|
||||
[ -0.0630, +0.0156, +0.2661, -0.3955, -0.2461, -0.1673, +0.1338, -0.2243, -0.0917, +0.0429, -0.0677, +0.0675, +0.1562, +0.0712, +0.0599, +0.0857, -0.0022],
|
||||
[ -0.0827, -0.0066, -0.0508, -0.2501, +0.1727, -0.0673, -0.2722, +0.0034, +0.1900, +0.0935, +0.1518, -0.2970, +0.0206, +0.1015, +0.3058, -0.0966, +0.0802],
|
||||
[ -0.3140, -0.0855, +0.0831, -0.2979, -0.1527, -0.0586, -0.0765, +0.1315, -0.1255, +0.0756, -0.1535, +0.1171, +0.0520, -0.0103, -0.1873, +0.4664, -0.1241],
|
||||
[ -0.0114, +0.2095, -0.1994, -0.0867, +0.1590, +0.1155, -0.0584, +0.1017, +0.0551, +0.0491, -0.0619, +0.0421, +0.3007, +0.0639, +0.2559, +0.0231, +0.0049],
|
||||
[ -0.0934, +0.1292, +0.0787, +0.1615, -0.0336, +0.0189, +0.0192, +0.3530, -0.0446, -0.0175, -0.0205, +0.4891, +0.0128, +0.0602, +0.1758, +0.2602, +0.0783],
|
||||
[ -0.0994, +0.2774, +0.1490, -0.0130, +0.0516, +0.2508, -0.2210, -0.2081, +0.0918, +0.1224, -0.1214, -0.0455, +0.0377, -0.0405, -0.0745, -0.1266, +0.0266],
|
||||
[ -0.2693, -0.1904, -0.4210, +0.2373, -0.1741, -0.0926, -0.1071, +0.0152, -0.0245, +0.2144, +0.0021, +0.2754, -0.0779, +0.0889, -0.2059, +0.4492, -0.0414],
|
||||
[ -0.0317, -0.1831, +0.0314, -0.1490, -0.0209, +0.0647, +0.1074, +0.2058, -0.2190, -0.2174, -0.0096, +0.1194, -0.3281, -0.0285, +0.0097, -0.0474, +0.0277],
|
||||
[ -0.1067, +0.1624, +0.0984, -0.0254, -0.2838, +0.3969, +0.1763, +0.2984, -0.0858, +0.0960, -0.1500, +0.0147, -0.0332, -0.0471, +0.1749, +0.0493, -0.0735],
|
||||
[ +0.0132, +0.3678, +0.0342, -0.0696, +0.2202, +0.2356, +0.0564, -0.2170, +0.1808, -0.1728, -0.1532, +0.1138, -0.2917, +0.0452, -0.1400, +0.0686, +0.0163],
|
||||
[ -0.0840, +0.1193, -0.3362, -0.5889, +0.1703, +0.1629, +0.0136, +0.2344, +0.0378, -0.0116, +0.0711, +0.3142, +0.1808, -0.0282, +0.2050, +0.0341, +0.1123],
|
||||
[ -0.0805, -0.0414, -0.0382, -0.0489, +0.0325, -0.0496, +0.0527, -0.0898, +0.0059, +0.2620, -0.1943, +0.1644, +0.0712, -0.0231, +0.0093, +0.0466, -0.0091],
|
||||
[ -0.1584, +0.1060, +0.0313, +0.1173, -0.2279, -0.0727, +0.0211, +0.0052, +0.0345, +0.0741, -0.1256, -0.1304, -0.1006, -0.1196, +0.0600, -0.1250, +0.0047],
|
||||
[ +0.2277, -0.1071, -0.4313, -0.1747, +0.1176, +0.1918, -0.1673, -0.0528, +0.0969, -0.3576, +0.1410, +0.6245, -0.3743, +0.0336, -0.1082, -0.2136, +0.0313],
|
||||
[ +0.0289, +0.1115, +0.0888, -0.1529, -0.2121, -0.1695, +0.0694, +0.0380, -0.0102, +0.4132, -0.0224, +0.2705, +0.0216, -0.1863, -0.2998, -0.2107, -0.0259],
|
||||
[ +0.0589, +0.1581, -0.4318, -0.1053, -0.1571, -0.2853, -0.0146, +0.0784, +0.0020, +0.0923, -0.0254, -0.2018, -0.1489, +0.0094, +0.3257, -0.1083, -0.0905],
|
||||
[ -0.0949, +0.0170, +0.0272, +0.1819, -0.0752, -0.0181, -0.2129, -0.0323, +0.0274, -0.0133, +0.0938, -0.3856, +0.3091, +0.0179, +0.3366, +0.1593, -0.0161],
|
||||
[ -0.1252, +0.3701, -0.0589, +0.0545, -0.1108, -0.0956, +0.0695, +0.2712, -0.0083, +0.2579, -0.1531, -0.0687, +0.0345, +0.0762, -0.1421, -0.0505, +0.0517],
|
||||
[ +0.0517, -0.0901, -0.1277, +0.4666, +0.0574, -0.0990, +0.0963, +0.1274, -0.0799, +0.0159, +0.1000, -0.2168, +0.1889, +0.0040, -0.1972, -0.0362, +0.0562],
|
||||
[ +0.1440, +0.0298, +0.0816, -0.1297, -0.1045, +0.0136, -0.1250, -0.5495, +0.1513, -0.0068, +0.0330, +0.0588, +0.0072, -0.0345, +0.1894, +0.1547, +0.0435],
|
||||
[ +0.1953, +0.2385, -0.0724, +0.0091, -0.1904, +0.0435, +0.1006, +0.0204, +0.0278, +0.0446, -0.0699, -0.1225, +0.0138, +0.1053, +0.0760, -0.0600, +0.0150],
|
||||
[ -0.0602, -0.0793, +0.0592, +0.2389, +0.1148, -0.0913, +0.0474, -0.0686, +0.2182, +0.1319, -0.0708, +0.1719, +0.1364, +0.0680, -0.1258, +0.0391, -0.0556],
|
||||
[ -0.0524, -0.0569, -0.2458, -0.0279, -0.0945, -0.0773, -0.0324, +0.0079, -0.1167, +0.0916, +0.0723, +0.0455, -0.0923, +0.0999, -0.2338, +0.0758, -0.0457],
|
||||
[ +0.1830, +0.1197, -0.1186, -0.0196, +0.1558, -0.0338, +0.0131, -0.2008, -0.0743, +0.1917, -0.0534, +0.1725, +0.2232, -0.0241, +0.3512, -0.1768, -0.0503],
|
||||
[ +0.1098, -0.0488, -0.1056, +0.0923, +0.0591, +0.0028, -0.1780, +0.0580, +0.0417, -0.0130, +0.0246, +0.0049, -0.0911, -0.1237, -0.1790, -0.0281, +0.0429],
|
||||
[ -0.1739, -0.2217, +0.4646, -0.0477, -0.1768, +0.0398, +0.4055, +0.3274, -0.2234, -0.1894, -0.0553, +0.1020, -0.0872, -0.1464, +0.1350, +0.2679, -0.1034],
|
||||
[ +0.0890, +0.0403, -0.0967, -0.2567, +0.1072, +0.1612, +0.0717, +0.1046, +0.0468, -0.1054, +0.0571, +0.1053, +0.0292, +0.0666, -0.2592, +0.0386, -0.0042],
|
||||
[ -0.2850, -0.1275, -0.0273, +0.0466, +0.0844, +0.2588, +0.0463, +0.0784, +0.1722, -0.1267, +0.2307, +0.1287, +0.0065, +0.0705, -0.1535, +0.1259, +0.0177],
|
||||
[ +0.0563, -0.1392, -0.2831, -0.0861, +0.2158, -0.3323, +0.0984, -0.1214, -0.0061, +0.1651, -0.0671, +0.1043, -0.1030, -0.0276, -0.3177, -0.1690, +0.0226],
|
||||
[ -0.0371, +0.2498, +0.0943, -0.0595, -0.1622, -0.0368, -0.0410, -0.0350, +0.1649, -0.1391, +0.1116, +0.1493, +0.4497, +0.0689, +0.1345, +0.0235, -0.1134],
|
||||
[ +0.0242, +0.3250, -0.0431, -0.0669, +0.0768, +0.3238, -0.1787, -0.0234, -0.2246, -0.0746, -0.0270, -0.0981, -0.0545, -0.0218, -0.0163, +0.1178, -0.0560],
|
||||
[ +0.0480, +0.0810, +0.0106, +0.0650, -0.0826, +0.0256, -0.2193, -0.1972, +0.0669, +0.1536, +0.1926, +0.2480, -0.3976, -0.0610, +0.1993, -0.0446, +0.0406],
|
||||
[ -0.1425, +0.0553, +0.0507, +0.0564, +0.0144, -0.0179, +0.0147, -0.1410, -0.0849, +0.0165, -0.1263, +0.0968, +0.0568, +0.1290, -0.0628, -0.1092, +0.1861],
|
||||
[ +0.0671, +0.0607, +0.0758, -0.0148, +0.0791, +0.1348, -0.2942, -0.1454, -0.0840, +0.1462, +0.1797, +0.0763, +0.0768, +0.0266, +0.0433, -0.1881, +0.0711],
|
||||
[ +0.0370, -0.0775, -0.0157, -0.0413, -0.0182, +0.3259, -0.1009, -0.2658, +0.1276, +0.0289, -0.0747, +0.1413, +0.0705, -0.0123, +0.0475, +0.2272, -0.0674],
|
||||
[ +0.0655, +0.0401, -0.0795, +0.1287, +0.0759, +0.0857, -0.0211, +0.0354, +0.0308, +0.0311, -0.2132, -0.0911, -0.3604, +0.0304, -0.1964, -0.0431, +0.0475],
|
||||
[ -0.0644, -0.0094, -0.1486, +0.3191, -0.2175, -0.1737, -0.0700, +0.1518, -0.0068, +0.4075, +0.0318, +0.1678, -0.1474, +0.0902, +0.0219, +0.2162, -0.0012],
|
||||
[ +0.1667, +0.1585, +0.2017, +0.2685, -0.0871, -0.2013, -0.0570, +0.0754, +0.1046, +0.1687, -0.0567, -0.0313, -0.1774, -0.0854, +0.0939, +0.1894, +0.0624],
|
||||
[ +0.0932, -0.0126, +0.0624, +0.3765, +0.0937, -0.0058, +0.0455, +0.1864, -0.0820, -0.1547, +0.1103, +0.0415, +0.0349, -0.0023, +0.3515, +0.0308, +0.0940],
|
||||
[ -0.0513, +0.0717, -0.0269, -0.0405, -0.0152, -0.0331, +0.1988, -0.0502, +0.0477, -0.1251, +0.2972, -0.0378, +0.2606, -0.0454, +0.2086, +0.0971, -0.0640]
|
||||
])
|
||||
|
||||
weights_final_b = np.array([ -0.0082, -0.0230, +0.0671, +0.1373, +0.2278, +0.0230, +0.0218, +0.2155, +0.0044, +0.3212, +0.1209, +0.2365, +0.0112, +0.0689, -0.1482, +0.0108, +0.0086])
|
||||
|
||||
if __name__=="__main__":
|
||||
main()
|
||||
@ -1,526 +0,0 @@
|
||||
#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
|
||||
import os, inspect
|
||||
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
|
||||
parentdir = os.path.dirname(os.path.dirname(currentdir))
|
||||
os.sys.path.insert(0,parentdir)
|
||||
|
||||
import gym
|
||||
import numpy as np
|
||||
import pybullet as p
|
||||
import pybullet_envs
|
||||
import time
|
||||
|
||||
def relu(x):
|
||||
return np.maximum(x, 0)
|
||||
|
||||
class SmallReactivePolicy:
|
||||
"Simple multi-layer perceptron policy, no internal state"
|
||||
def __init__(self, observation_space, action_space):
|
||||
assert weights_dense1_w.shape == (observation_space.shape[0], 256)
|
||||
assert weights_dense2_w.shape == (256, 128)
|
||||
assert weights_final_w.shape == (128, action_space.shape[0])
|
||||
|
||||
def act(self, ob):
|
||||
x = ob
|
||||
x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
|
||||
x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
|
||||
x = np.dot(x, weights_final_w) + weights_final_b
|
||||
return x
|
||||
|
||||
def main():
|
||||
gui = True
|
||||
env = gym.make("HumanoidFlagrunHarderBulletEnv-v0")
|
||||
if (gui):
|
||||
env.render(mode="human")
|
||||
pi = SmallReactivePolicy(env.observation_space, env.action_space)
|
||||
|
||||
env.reset()
|
||||
torsoId = -1
|
||||
for i in range (p.getNumBodies()):
|
||||
print(p.getBodyInfo(i))
|
||||
if (p.getBodyInfo(i)[0].decode() == "torso"):
|
||||
torsoId=i
|
||||
print("found humanoid torso")
|
||||
|
||||
while 1:
|
||||
frame = 0
|
||||
score = 0
|
||||
restart_delay = 0
|
||||
obs = env.reset()
|
||||
|
||||
while 1:
|
||||
|
||||
a = pi.act(obs)
|
||||
obs, r, done, _ = env.step(a)
|
||||
score += r
|
||||
frame += 1
|
||||
distance=5
|
||||
yaw = 0
|
||||
humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
|
||||
if (gui):
|
||||
time.sleep(1./60.)
|
||||
print("frame=",frame)
|
||||
camInfo = p.getDebugVisualizerCamera()
|
||||
curTargetPos = camInfo[11]
|
||||
distance=camInfo[10]
|
||||
yaw = camInfo[8]
|
||||
pitch=camInfo[9]
|
||||
targetPos = [0.95*curTargetPos[0]+0.05*humanPos[0],0.95*curTargetPos[1]+0.05*humanPos[1],curTargetPos[2]]
|
||||
p.resetDebugVisualizerCamera(distance,yaw,pitch,targetPos);
|
||||
|
||||
still_open = env.render("human")
|
||||
if still_open==False:
|
||||
return
|
||||
if not done: continue
|
||||
if restart_delay==0:
|
||||
print("score=%0.2f in %i frames" % (score, frame))
|
||||
restart_delay = 60*2 # 2 sec at 60 fps
|
||||
else:
|
||||
restart_delay -= 1
|
||||
if restart_delay==0: break
|
||||
|
||||
weights_dense1_w = np.array([
|
||||
[ +0.0752, -0.6789, +0.3101, +0.2636, -0.7081, +0.0974, +0.3678, +1.1948, +0.7950, +1.3772, +0.2956, +0.8415, +0.3694, -0.0850, +0.8419, +0.4497, -0.0195, +0.4956, +0.3685, +1.0572, +0.8459, +0.3653, +0.2858, -0.0665, -0.0281, -0.5052, +0.6827, +0.6618, +0.2302, -0.0453, +0.4321, -0.1548, +0.9474, +1.5321, +0.1271, +0.0411, +0.8746, +0.5186, -0.0479, +0.3412, +0.3288, -0.2989, +0.7928, +0.7855, +0.7304, +0.3658, -0.0112, +0.8015, +0.2981, +0.6527, +0.3115, -0.2148, -0.0112, +0.7147, -0.4057, +0.3370, +0.2069, +0.5883, +0.7047, +0.1635, -0.3282, -0.5068, -0.1686, +0.1959, +0.7755, +0.0100, +1.4566, +0.6938, +0.0254, +0.1937, -0.5088, +0.1414, +0.0846, +0.7014, +0.4438, +0.5287, -0.3892, -0.4043, +1.0074, +0.4806, -0.5142, +1.4775, +1.1066, +0.6906, +0.5565, +0.2616, +1.0036, -0.0584, +0.1833, +0.2652, +0.0789, +0.1869, +0.2619, +0.1662, +0.2666, +0.8897, +0.0652, -0.0637, +0.5140, +0.5815, +0.5812, -0.1808, +0.2841, -0.6698, +0.6791, +0.4880, +0.8905, +0.0408, +0.6331, -0.2306, -0.5939, +0.2471, +1.1788, +0.3668, +0.0266, +0.8637, +1.2819, +0.2163, +0.8522, +0.7304, +0.4264, -0.0239, +1.2315, -0.3494, +0.1508, -0.7900, +0.3448, +1.1165, +1.8110, -0.1039, +0.3905, -0.2768, -0.2969, +0.4174, +0.5370, +1.1485, +0.6219, +1.3133, +0.3764, +0.1804, +0.3035, +0.6823, -0.5350, +0.0519, +0.2773, -0.4125, +0.2056, +0.0225, -0.0566, +0.0725, +0.3949, +0.0689, +1.0486, +0.3620, +0.0135, +0.3381, +0.1834, -0.2720, +0.2406, -0.5493, +0.6250, -0.0294, +0.3847, +0.8713, +1.4271, +0.2877, +0.4419, +0.3455, +0.5685, +0.2008, +0.1130, +0.1883, +0.3298, -0.1112, -0.2278, -0.0714, +0.0764, +0.6108, +0.7001, +0.6910, +0.0480, +0.2522, +0.5368, +0.0912, +1.2811, -0.2263, -0.4145, -0.2841, -0.9109, +0.2695, +0.1641, +0.2013, +0.1221, +0.1216, -0.1524, +0.5033, -0.0899, +0.3205, +0.5048, +0.3406, +0.1668, +1.0533, +0.3956, +0.9017, +0.2437, +0.2327, -0.2247, +0.9468, +0.4281, +0.3659, -0.0398, -0.2564, +0.4621, -0.1711, +0.1795, -0.0352, +0.6745, +0.0598, -0.3521, -0.5270, -0.2982, -0.1760, -0.2699, +0.9688, +0.1084, +0.2812, -0.1849, +0.1756, -0.0126, +1.1015, +0.5203, -0.9025, -0.2325, +0.4296, -0.2778, +0.3206, +0.2000, +0.3638, -0.6239, +0.5348, +0.4735, +1.0221, +0.1029, +0.0574, +1.0728, +0.3091, -0.4448, +0.0320, +0.5159, +0.7493, +0.6693, +0.6241, +0.3482, +0.2403, -0.6731, +0.2171],
|
||||
[ -0.1752, -0.1544, +0.5755, +0.4434, -0.1515, +0.4672, -0.5603, +0.1816, -0.1929, -0.4904, +0.2192, -0.3133, -0.1343, +0.0474, +0.1037, +0.1314, -0.4307, -0.1081, +0.6350, +0.4140, +0.0704, +0.3162, +0.1339, -0.0598, +0.1176, +0.3238, -0.2225, +0.4147, +0.1245, -0.1552, +0.1893, -0.4832, +0.5187, -0.0204, +0.1949, -0.0900, +0.0271, +0.0211, +0.3097, -0.0373, +0.0175, +0.3897, +0.4506, +0.1308, +0.1478, +0.4668, +0.2385, +0.0941, -0.0499, +0.4888, +0.0620, -0.0388, +0.9152, -0.3079, +0.2611, -0.0733, +0.0849, +0.4503, +0.0092, -0.2095, +0.3004, +0.0277, -0.5612, -0.3580, +0.1962, -0.4878, -0.0116, -0.2307, -0.1753, -0.5066, -0.3425, -0.2346, -0.2534, -0.2967, +0.0711, -0.1017, +0.0203, -0.1027, -0.0675, -0.4460, -0.0963, +0.3154, +0.1242, -0.4690, -0.5501, +0.6461, -0.5083, +0.3819, -0.2974, +0.2090, +0.1824, -0.2403, -0.2439, +0.6099, +0.1456, +0.0083, -0.1455, +0.5720, -0.3688, +0.3947, +0.0168, -0.1926, +0.4240, -0.1347, +0.1546, +0.7436, +0.4577, +0.1400, -0.3503, +0.0731, -0.0038, -0.2098, +0.0704, +0.0110, +0.4309, +0.1972, -0.3308, -0.2402, -0.2752, -0.5395, +0.0769, -0.1325, -0.5346, +0.2388, -0.2791, +0.0613, -0.1198, -0.2837, -0.1936, +0.1920, -0.2144, +0.0700, +0.1432, +0.0889, +0.6315, +0.7544, +0.0085, -0.0674, +0.2926, -0.0881, -0.0463, -0.3783, +0.2818, -0.1856, +0.2823, -0.3773, -0.3604, -0.0195, -0.0014, -0.1106, +0.1736, +0.1245, +0.0063, +0.1922, +0.2607, -0.0665, +0.2172, -0.0482, +0.0184, -0.0337, +0.0257, -0.2920, -0.4534, -0.4608, +0.2111, -0.2330, -0.5469, -0.1964, +0.2660, -0.0375, -0.1817, -0.3769, +0.3142, +0.3659, +0.0747, -0.1623, -0.0984, -0.0144, -0.0320, +0.4246, +0.3933, -0.3629, -0.1253, +0.4820, -0.5774, +0.5301, +0.2568, +0.2230, +0.0277, -0.0507, +0.6167, -0.2586, +0.4530, +0.1409, -0.5465, -0.4948, -0.1043, -0.2338, -0.1205, +0.3703, +0.1557, +0.2893, +0.4582, -0.1091, +0.0673, -0.2456, -0.4765, -0.3449, +0.7692, -0.0031, -0.6290, -0.3958, -0.2039, -0.9812, +0.0910, +0.0026, -0.2029, -0.1387, -0.2126, +0.4389, +0.0658, +0.2143, -0.5214, +0.3030, +0.0370, +0.0528, +0.6080, +0.1522, +0.0217, -0.3402, -0.1225, -0.3023, -0.1012, -0.0211, -0.1202, -0.3144, +0.3356, -0.2141, -0.0347, +0.7998, -0.0737, +0.2969, -0.2562, +0.2671, +0.0624, -0.4707, +0.1587, -0.2368, +0.1100, -0.1040, +0.9807, +0.2808, -0.5608, -0.0934, -0.2954, +0.6295],
|
||||
[ +0.5932, +0.0876, -0.7242, -0.1409, -0.0412, -0.5790, +0.0735, -0.0075, -0.3211, -0.4211, -0.5609, -0.0071, +0.0205, +0.6445, -0.5784, +0.4860, +0.0114, +0.1385, +0.0225, -0.3472, -0.3914, +0.0757, -0.3139, +0.0129, +0.0466, -0.1209, +0.1617, -0.2285, -0.1140, +0.2034, -0.7240, -0.1546, -0.0684, +0.5968, -0.2782, +0.5796, +0.2176, -0.0863, +0.0184, +0.3518, +0.1192, +0.4493, -0.6615, +0.1265, +0.2269, +0.3246, +0.3507, -0.2315, +0.3468, -0.2529, -0.1467, +0.3462, +0.3384, +0.3722, +0.1264, -0.1046, -0.1847, +0.8132, +0.2269, -0.0447, +0.0325, -0.1035, -0.0265, +0.0077, -0.9253, +0.2728, -0.0053, +0.2089, -0.3447, -0.1360, -0.7346, -0.5151, +0.0677, +0.1098, -0.0557, +0.1713, -0.1517, +0.3527, -0.3971, -0.6077, +0.1470, +0.2593, -0.2708, +0.3502, +0.1825, +0.2765, +0.3493, -0.0738, +0.4190, +0.3283, -0.0341, +0.3594, +0.2133, +0.7555, -0.1510, +0.0815, +0.4211, +0.2286, -0.3961, -0.0640, -0.0552, -0.1128, -0.3669, +0.2520, +0.1446, +0.2243, +0.3486, +0.3686, -0.3555, +0.0156, +0.0515, +0.2016, +0.0560, -0.3013, -0.3812, +0.1652, -0.4300, +0.3065, -0.2277, +0.0395, -0.2969, +0.6106, +0.4422, -0.1107, +0.2372, +0.2353, +0.1749, +0.4339, -0.0915, -0.0488, -0.3284, +0.4118, -0.2244, -0.2256, +0.2857, -0.3133, +0.3841, -0.3455, +0.1268, -0.2927, -0.0887, +0.2962, -0.4251, +0.0084, +0.2994, +0.0847, +0.2371, -0.2487, +0.1664, -0.3756, -0.1576, +0.1893, -0.1982, -0.0688, +0.2302, +0.0263, +0.0542, -0.0276, -0.2222, -0.0490, -0.6624, -0.3752, +0.0870, -0.1422, +0.4277, +0.1805, +0.0526, +0.0018, +0.2216, -0.0847, +0.1616, +0.5632, +0.2277, -0.3285, -0.5138, -0.3664, +0.3498, +0.1980, +0.3724, -0.1786, +0.2221, -0.5224, +0.0812, +0.4015, +0.3422, +0.1908, -0.0051, +0.2799, -0.0512, -0.1594, +0.6423, +0.2448, -0.4401, +0.1921, +0.0799, -0.3727, +0.5275, -0.0174, +0.4468, -0.0512, +0.4795, +0.2527, +0.0632, +0.3175, -0.2694, -0.4018, +0.3092, -0.7466, +0.4384, +0.4082, +0.1685, -0.3123, +0.4868, -0.5692, +0.1797, +0.0494, -0.2515, -0.4259, -0.0028, -0.2640, -0.5699, -0.1311, +0.1270, +0.0336, +0.6316, +0.4087, -0.4763, -0.3475, -0.5440, -0.2698, +0.1488, +0.1341, +0.0122, -0.3385, -0.1212, +0.5227, -0.0753, -0.0322, -0.2132, +0.2339, +0.0864, +0.3208, -0.2422, +0.3589, +0.0860, -0.0016, +0.3235, +0.1055, +0.0777, +0.1776, +0.2120, +0.2451, -0.0287, +0.2051, -0.4536, +0.0970],
|
||||
[ -0.2690, +0.1314, -0.0365, -0.1134, -0.1789, +0.5303, -0.1880, +0.0992, +1.2840, -0.1755, -0.0757, +0.6944, +0.0096, +0.2513, +0.5688, +0.1564, -0.1621, -1.7309, +0.1652, -0.1027, -0.6476, +0.6880, -0.4071, -0.2158, +0.1096, -0.2273, -0.4430, -0.5744, +0.7097, +0.4519, +0.4016, +0.3291, -0.5816, -1.1441, +0.5293, -1.0562, +0.3291, +0.1322, -0.6296, +0.0504, -0.3168, +0.1127, +0.2343, +0.4343, -0.9353, -0.0756, -1.7720, -0.5751, -0.0490, -0.1676, -0.3240, +0.0971, -1.6051, +0.7573, +0.6229, -0.0263, +0.2916, -0.7058, +0.3901, +0.1265, +0.5383, -0.9017, +0.4115, -0.4862, +1.1282, -1.5179, -1.0867, -0.7799, +0.0565, +0.0988, -0.2132, -0.3317, -0.8753, -0.6307, +0.6586, -0.1739, -1.1522, -0.5686, -0.2432, -0.3128, -0.3289, -0.3558, -1.4333, -0.3257, -0.7930, +0.2352, +0.1473, +0.4385, -0.4455, -0.6358, -0.0583, +0.0995, -0.5240, -0.2137, -0.7919, +0.5977, -0.1138, -0.3096, +0.5348, -0.0114, +0.3708, +0.1293, -0.6508, -0.8037, -1.0384, -0.6388, +0.5904, -0.4826, -0.9746, +1.1987, +0.0233, +0.0467, +0.6593, +0.4173, +0.1987, +0.5006, +0.4979, -0.0726, +0.2625, -0.6826, +0.1639, -0.2137, -0.9070, -0.0546, -0.7779, +0.1943, +0.0354, +0.8273, +0.2258, -0.2628, -0.5064, -0.8099, -0.3322, -0.1551, +0.0947, -0.2662, +0.1449, -0.8593, +0.3583, -1.8365, -0.8684, -0.9969, +0.4949, -0.1957, -0.4590, +0.5048, +0.3621, +0.0455, +0.4746, -0.3680, +0.0200, +0.1063, +0.5762, +0.0213, +0.0504, +0.3103, +0.2092, -0.2716, +0.5856, -0.5400, +0.0777, -0.8411, +0.3511, -0.3667, -0.3487, +0.5145, +0.6014, +0.1249, -0.8400, -0.2851, +0.6204, -0.5063, +0.1536, -0.1435, -0.3218, +0.4161, -0.3103, -0.7533, -0.5084, +0.2561, +0.3095, -0.0707, +0.1382, +0.1809, -1.1545, +0.7516, +0.2145, -1.0730, -0.0177, -0.4645, -1.1310, -0.2274, -0.4427, -0.4191, -0.7231, +0.4678, -0.7296, +0.3554, +0.4667, -1.0550, +0.0346, +0.2116, +0.9885, -0.9267, -0.2824, +0.3876, +0.1682, +0.2248, -1.1494, -0.5552, -0.2033, +0.4152, -0.8959, +0.5338, +0.5643, +0.4823, +0.0312, +0.7849, -0.7382, +0.1965, +0.5325, -0.2720, +0.3551, -0.1661, -0.5874, -0.6471, +0.0757, +0.0462, -0.2945, -0.0274, -0.0490, -0.1384, -0.4716, -0.1593, -0.2254, -0.2248, -1.4069, +0.0485, +0.2871, -0.2372, -0.0409, -0.5988, -0.3974, -1.1764, +0.0190, -1.5573, +0.4764, +0.0051, -0.9028, +0.3651, -0.7076, -0.2425, +0.0518, +0.1145, -0.0267, +0.8348],
|
||||
[ -0.6511, +0.7251, -0.4421, +0.3926, -0.0364, -0.0537, +1.4062, +0.6801, +0.9523, +0.3069, -0.4447, +0.7222, -1.2175, -0.7626, -0.2748, -1.2787, +0.1056, -0.0694, -0.0864, -1.3508, -1.3153, +1.2113, -0.0577, -0.2743, +0.3818, +0.2424, +0.1609, +1.4353, +0.6818, -0.6426, -1.0971, -0.0556, -0.6581, -0.0490, -0.2704, +1.4192, +0.3453, +0.2803, -0.1227, +0.6686, -1.0020, -1.1945, +0.4890, -0.6006, +0.7084, -1.4282, -0.6224, -1.0166, +1.4567, -0.0008, +0.8713, +0.7022, +0.2525, +0.0662, -0.4975, -0.7748, +0.0344, -0.8919, -0.3348, +0.3233, +0.0015, -0.3540, -0.2386, -1.0088, -0.8125, +2.0968, +1.0803, +0.9211, +0.8296, -0.1003, +0.8605, -0.2365, +0.0202, -1.4108, +0.2266, +0.8336, -0.1367, +0.0020, +0.5003, -0.2862, -0.8259, -0.2074, +0.9419, +0.4166, +0.7930, -1.7141, +0.3657, -0.2619, -0.4160, -0.6797, -0.6352, -0.2866, +0.0952, +0.3476, +0.4372, +0.1465, +0.1066, -0.4821, +0.4347, -0.1212, +0.4981, -0.6660, -0.2960, +0.8108, +0.0464, -0.1216, -0.9477, -0.1743, +0.6228, -0.2407, +0.0277, +0.5865, +0.5340, +0.4219, -0.1356, +0.3273, +0.2977, -1.1986, +1.0232, -0.3660, -0.7930, +0.2605, -1.0371, -0.9427, +0.0043, +1.0893, +0.8926, -0.1067, -1.7242, +0.1951, -0.4299, +1.9632, -0.9145, -0.3048, +0.5174, +0.0853, -0.5597, +1.2871, +1.0552, -0.7340, -0.4731, +1.4815, -0.6180, +0.1526, +0.0229, -0.8960, -0.0685, +0.7497, +0.7444, +0.9920, -0.0914, +0.5685, -0.6389, -0.7547, +0.5346, -0.8145, -0.2830, -0.1435, +0.0236, +1.2155, -0.0982, +0.4208, +0.3731, +1.4716, -0.4185, -0.1971, +0.2266, +0.8106, -0.3330, +0.1483, +0.0896, +0.5137, +0.3635, -1.0750, -1.0363, -0.0595, +0.0770, -0.0965, -0.3142, +0.6241, +2.6819, +0.2020, +0.8084, +0.7968, +1.0020, +0.2969, +0.9403, +0.4635, +0.1005, -0.7425, -0.4718, +1.4619, +0.3308, -0.7526, -0.0996, +0.1066, -1.1239, -0.3081, +0.7499, +1.7553, -0.2147, -0.0924, +0.4060, +1.0679, -0.5004, +0.7543, +0.3573, -0.8287, -0.6544, +1.0195, +0.1508, +0.8053, +0.4921, -0.3614, +0.4389, +0.2640, +0.0898, -1.1756, +0.2007, -1.0919, +0.0418, -0.8312, -0.2614, -1.0834, -0.1764, -0.2669, +0.6236, -1.9193, +1.3387, +0.1989, -0.7543, -0.5440, -1.0083, +0.1313, -0.4996, -0.1275, +0.3503, +0.2986, -0.9284, -0.4735, -0.6489, +0.9879, +0.9879, +0.3181, +0.5054, -0.5081, -0.4990, -0.6723, +1.1512, -0.0684, +0.2308, -0.1070, -0.6214, -0.0444, +1.0225, +0.5097],
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])
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weights_dense1_b = np.array([ -0.3713, -0.4788, -0.4526, -0.2965, -0.1936, -0.1720, -0.3474, -0.2552, -0.3469, -0.3368, -0.1374, -0.1110, -0.3759, -0.3767, -0.5245, -0.3949, -0.1683, -0.3501, -0.5974, +0.0300, -0.5513, -0.3761, -0.1666, -0.3806, -0.3535, -0.1429, +0.0486, -0.2078, -0.3799, -0.2918, -0.3389, -0.1376, -0.4651, -0.1095, -0.4499, -0.5921, -0.3631, -0.1290, -0.4742, -0.4344, -0.5803, -0.2159, -0.4132, -0.2673, -0.3997, -0.0717, -0.4366, -0.3366, -0.3779, -0.3170, -0.2478, -0.3427, -0.2311, -0.1328, -0.7694, -0.3844, -0.2211, -0.3890, -0.7315, -0.5018, -0.4067, -0.2856, -0.3175, -0.4480, -0.4431, -0.2333, +0.0410, -0.1769, -0.4686, -0.5514, -0.4612, -0.0265, -0.2324, -0.1453, -0.2873, -0.4045, -0.1165, -0.5289, -0.2202, -0.6786, -0.1169, -0.0682, -0.3709, -0.4886, -0.2185, -0.3438, -0.4616, -0.4155, -0.7863, -0.4401, -0.4899, -0.4117, -0.4806, -0.4097, -0.2872, -0.1828, -0.6852, -0.5156, -0.5925, -0.3390, -0.3346, -0.3234, -0.4103, -0.5586, -0.3492, -0.3954, -0.3616, -0.4412, +0.1251, -0.4427, -0.4572, -0.0355, -0.4994, -0.2568, -0.2854, -0.6416, -0.2169, -0.3256, -0.1698, -0.2834, -0.3301, -0.2653, +0.1410, -0.2173, +0.0354, -0.2063, -0.2363, -0.4799, -0.2986, -0.4649, -0.1474, -0.4056, -0.1126, -0.4528, -0.3708, -0.3827, -0.2823, -0.0052, -0.4918, -0.3571, -0.0842, -0.3555, -0.5800, -0.1141, -0.6187, -0.4847, -0.4353, -0.6255, -0.5042, -0.1300, -0.3475, -0.5925, -0.3906, -0.5146, -0.9129, -0.4199, -0.2489, -0.2488, -0.1823, -0.3016, -0.2044, -0.2520, -0.4255, -0.1588, -0.0822, -0.2404, -0.6760, -0.3958, -0.3408, -0.5739, -0.2639, -0.2775, -0.2460, -0.5386, -0.3128, -0.2900, -0.1563, -0.1128, -0.1749, -0.4305, -0.5141, -0.3029, -0.1899, -0.0959, -0.3437, -0.3427, -0.3740, -0.3490, -0.5459, -0.5600, -0.3863, -0.3217, -0.3462, -0.2562, -0.5601, -0.3962, -0.4232, -0.4596, -0.3772, -0.5169, -0.4289, -0.5741, -0.2419, -0.2413, +0.0391, -0.3557, -0.3774, -0.1001, +0.0671, -0.0025, -0.2404, -0.3022, -0.4145, -0.3504, -0.3668, -0.4348, -0.4914, -0.4494, -0.0953, -0.4883, -0.4871, -0.5184, -0.3926, -0.3353, -0.4653, -0.2977, -0.5445, -0.4505, -0.2325, -0.0654, -0.2438, -0.4350, -0.3139, -0.0171, -0.5632, -0.2355, -0.3351, -0.4808, -0.2853, -0.4951, -0.1856, -0.3112, -0.0963, -0.4871, -0.2345, -0.1925, -0.4274, -0.2157, -0.2677, -0.2102, -0.1708, -0.1752, -0.2463, -0.2914, -0.4638, -0.5189])
|
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|
||||
weights_dense2_w = np.array([
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])
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|
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weights_dense2_b = np.array([ +0.1300, +0.2223, +0.3961, +0.1325, -0.0810, +0.1860, +0.1747, +0.2750, +0.1809, +0.2507, +0.0435, +0.0693, +0.0709, +0.2460, +0.1931, +0.3602, +0.0542, +0.0716, +0.0995, +0.2190, +0.0197, +0.1223, +0.2020, +0.0437, +0.0739, -0.1042, +0.1696, +0.2632, +0.2812, +0.0243, +0.0007, +0.2490, +0.1558, +0.0833, +0.1922, +0.7754, +0.1143, +0.1007, +0.0943, +0.0378, -0.0588, +0.1360, +0.3393, +0.0931, +0.0114, -0.1953, +0.0319, +0.0912, +0.2437, +0.3832, +0.2825, +0.1488, +0.0861, +0.1552, -0.0165, +0.1343, +0.1220, +0.0541, -0.0575, +0.2808, +0.1205, +0.2086, +0.0719, +0.2253, +0.0590, +0.1300, +0.3292, +0.0882, +0.2421, -0.1995, +0.3078, -0.0718, +0.0593, +0.1349, +0.2359, +0.1163, +0.1434, +0.2413, +0.3847, +0.0697, +0.3280, +0.1348, +0.2057, +0.3463, +0.1280, +0.1927, +0.1427, +0.1302, +0.0504, -0.0399, -0.1547, +0.0747, +0.2222, -0.0270, +0.0794, +0.2270, +0.0286, -0.0705, +0.2760, +0.0844, +0.1395, +0.2278, +0.2300, +0.2293, +0.3164, -0.2050, +0.1745, +0.3130, +0.1971, +0.3707, -0.0405, +0.1572, +0.0035, -0.0320, +0.0208, +0.1917, +0.1499, +0.0430, +0.3086, +0.1357, -0.0754, +0.1429, +0.1132, +0.2774, +0.1550, +0.3545, -0.1275, +0.2627])
|
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|
||||
weights_final_w = np.array([
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[ +0.1886, +0.0528, -0.0389, +0.2674, +0.0197, -0.0583, -0.1842, +0.0752, -0.2572, +0.3317, +0.2277, +0.0757, -0.3071, +0.1449, -0.0132, +0.0870, -0.0381],
|
||||
[ +0.0729, -0.0537, -0.0319, +0.0079, -0.0093, -0.0324, +0.1329, +0.0467, -0.0820, +0.0678, -0.0456, -0.0864, +0.0547, +0.0383, -0.0104, +0.0143, -0.1784],
|
||||
[ +0.0612, +0.2196, -0.1826, -0.2450, +0.0702, -0.0539, -0.0956, +0.1236, +0.1702, +0.0556, -0.1838, +0.1903, +0.0750, -0.1157, -0.2711, -0.2981, +0.0016],
|
||||
[ +0.0919, +0.1090, +0.0046, +0.1169, +0.0633, +0.1465, +0.0850, -0.0925, +0.0757, +0.0325, +0.0236, +0.0167, +0.2074, +0.0147, -0.1606, -0.1924, +0.1076],
|
||||
[ +0.0193, -0.1539, -0.0683, -0.0368, +0.0455, -0.0436, +0.1984, +0.0573, -0.1916, -0.1313, +0.0383, +0.1064, +0.0570, -0.0610, +0.0243, +0.0008, +0.0232],
|
||||
[ -0.0722, -0.0229, -0.0253, +0.1052, +0.2345, +0.0695, +0.1638, +0.0781, +0.0265, -0.0176, -0.0871, +0.1648, -0.0950, +0.0191, -0.0753, +0.1639, -0.0376],
|
||||
[ -0.0224, -0.4049, -0.2610, +0.0674, -0.0469, -0.1382, -0.0897, +0.2186, +0.0459, +0.1484, +0.0016, +0.1014, -0.5385, +0.0635, +0.2097, +0.0486, -0.1587],
|
||||
[ +0.1263, +0.1960, -0.1197, +0.0465, -0.0574, +0.0373, -0.0710, -0.0335, +0.0271, -0.1064, +0.0426, +0.0188, +0.1662, -0.0327, +0.0096, -0.0089, +0.0273],
|
||||
[ +0.2469, +0.1123, +0.0673, +0.0488, +0.0981, +0.0041, -0.0856, -0.1034, -0.1946, +0.0475, -0.1024, +0.4401, -0.0677, -0.0960, +0.2493, -0.1946, +0.1310],
|
||||
[ -0.1485, -0.0634, -0.1146, -0.0641, +0.0929, -0.1612, +0.0226, -0.0419, -0.0219, +0.0893, +0.0212, +0.0905, +0.0056, +0.0128, -0.0883, -0.2061, +0.0375],
|
||||
[ -0.2935, +0.1826, +0.2144, -0.2204, -0.1914, +0.0536, -0.0809, +0.0557, -0.0111, +0.0132, -0.1359, +0.1159, -0.1095, +0.0045, +0.0570, +0.1009, +0.1631],
|
||||
[ -0.1727, +0.0668, +0.0211, +0.3416, -0.1583, +0.0386, +0.0247, +0.0259, +0.0216, +0.0358, +0.0761, -0.0240, +0.0095, -0.0120, +0.2083, -0.0185, -0.0493],
|
||||
[ -0.0349, -0.1130, -0.1097, +0.0951, -0.0518, -0.0879, -0.1616, +0.0229, -0.0259, +0.0254, +0.1471, +0.0592, +0.0461, -0.0950, +0.0371, +0.1193, -0.0912],
|
||||
[ +0.0785, -0.0825, -0.0057, +0.2751, +0.3460, -0.0106, -0.1570, -0.1049, -0.0482, +0.1114, -0.0405, -0.0593, -0.3290, -0.0104, +0.1938, +0.0299, +0.2644],
|
||||
[ +0.0164, +0.0318, +0.1551, -0.1538, +0.0227, +0.3190, -0.0576, +0.0740, +0.1960, -0.0389, -0.2530, +0.0713, +0.0203, +0.0967, -0.2231, -0.2100, +0.0316],
|
||||
[ +0.1966, +0.0499, +0.0592, -0.0736, -0.0034, +0.0180, -0.0334, -0.0011, -0.1159, -0.0690, +0.0051, +0.0784, -0.1682, -0.0564, -0.0461, -0.1718, -0.0381],
|
||||
[ +0.1531, +0.1698, -0.1502, -0.0035, +0.0019, +0.0659, +0.1947, +0.0548, +0.0498, +0.1471, -0.1339, -0.0625, -0.0946, +0.0486, +0.0895, -0.1978, +0.0985],
|
||||
[ -0.0320, -0.2295, +0.0906, +0.1002, -0.0495, -0.0514, -0.0934, +0.2554, -0.0439, -0.0111, +0.0594, +0.1549, -0.1278, -0.0976, -0.1272, -0.0632, -0.0180],
|
||||
[ -0.0656, -0.0047, +0.2296, +0.0885, +0.0737, +0.1820, +0.0183, +0.1358, +0.0533, -0.0698, +0.0099, -0.4228, +0.1105, +0.0633, +0.0974, +0.2930, +0.0429],
|
||||
[ +0.3213, +0.0411, -0.0745, +0.1379, +0.0665, -0.0307, -0.0344, -0.1780, -0.0709, +0.0162, +0.0987, +0.2382, -0.4267, -0.1311, +0.1188, -0.0309, +0.0662],
|
||||
[ -0.1400, +0.2820, -0.5476, -0.0181, -0.0296, +0.2075, +0.0399, -0.3924, +0.2349, -0.1292, +0.1444, -0.1467, -0.1258, -0.0158, -0.1998, -0.3104, +0.0850],
|
||||
[ -0.0799, -0.1662, -0.1601, +0.1563, -0.0231, -0.0964, -0.0248, +0.2006, +0.1453, +0.0112, -0.0774, -0.5485, +0.1410, -0.0945, -0.0292, +0.0719, +0.0483],
|
||||
[ -0.2201, +0.1461, -0.0745, -0.2211, -0.0000, -0.0198, -0.1208, +0.1615, +0.1395, +0.1465, -0.1173, -0.2532, +0.0958, -0.0275, +0.1346, -0.0137, -0.0127],
|
||||
[ -0.1908, +0.0750, +0.1543, +0.0228, -0.0571, +0.0799, -0.2258, -0.0271, +0.0081, -0.1902, +0.1052, -0.1986, +0.1248, +0.0418, -0.0133, +0.1171, +0.0472],
|
||||
[ -0.2040, -0.0557, -0.0722, -0.1445, +0.0156, +0.1891, +0.0955, -0.0285, -0.1019, -0.0992, -0.0779, -0.0932, +0.0876, +0.0406, +0.0799, -0.1262, +0.0287],
|
||||
[ -0.1071, +0.1231, +0.0341, -0.0368, -0.0547, +0.0821, -0.3169, -0.5317, -0.1497, +0.1392, -0.1053, -0.1912, +0.1010, +0.0701, -0.0050, -0.4231, +0.2909],
|
||||
[ -0.1192, -0.0990, -0.4742, +0.3497, +0.0248, +0.0865, -0.0344, -0.1767, +0.1023, -0.1990, +0.1828, -0.3244, -0.0911, -0.0089, +0.3538, -0.0028, +0.0270],
|
||||
[ -0.2637, +0.1491, -0.0371, +0.0522, +0.0534, +0.0268, +0.1495, -0.0266, +0.1324, +0.0095, +0.1709, -0.1475, +0.0573, -0.0155, -0.1794, +0.0861, -0.0620],
|
||||
[ +0.0180, -0.2800, -0.2942, +0.1538, +0.0985, +0.0391, -0.0112, +0.4949, -0.0249, -0.1537, +0.0212, -0.2548, +0.0814, -0.0266, -0.1613, +0.1105, +0.0600],
|
||||
[ +0.1630, +0.0329, -0.0014, -0.0889, +0.0208, -0.0103, +0.0180, +0.0633, -0.1161, +0.1783, +0.0592, +0.3379, -0.1736, -0.0558, +0.0594, -0.2132, -0.0412],
|
||||
[ +0.1180, -0.1187, +0.2076, -0.0128, +0.0391, +0.0579, +0.0092, -0.0447, -0.2690, -0.1102, +0.0809, +0.0220, +0.2043, -0.0115, -0.1425, -0.2108, -0.0845]
|
||||
])
|
||||
|
||||
weights_final_b = np.array([ -0.1719, +0.1668, +0.1888, -0.0969, +0.2267, +0.2369, +0.0820, -0.1135, +0.2240, +0.2068, +0.1641, -0.0201, +0.0317, -0.0107, -0.1923, +0.0788, -0.0850])
|
||||
|
||||
if __name__=="__main__":
|
||||
main()
|
||||
@ -32,6 +32,9 @@ class StadiumScene(Scene):
|
||||
#
|
||||
for i in self.ground_plane_mjcf:
|
||||
p.changeDynamics(i,-1,lateralFriction=0.8, restitution=0.5)
|
||||
p.changeVisualShape(i,-1,rgbaColor=[1,1,1,0.8])
|
||||
p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION,1)
|
||||
|
||||
# for j in range(p.getNumJoints(i)):
|
||||
# p.changeDynamics(i,j,lateralFriction=0)
|
||||
#despite the name (stadium_no_collision), it DID have collision, so don't add duplicate ground
|
||||
|
||||
Loading…
Reference in New Issue
Block a user