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bullet3/examples/pybullet/tensorflow/humanoid_running.py
Erwin Coumans ef9570c315 add yapf style and apply yapf to format all Python files 
This recreates pull request #2192
2019-04-27 07:31:15 -07:00

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483 KiB
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import tensorflow as tf
import sys
import numpy as np
import argparse
import pybullet as p
import time
cid = p.connect(p.SHARED_MEMORY)
if (cid < 0):
cid = p.connect(p.GUI) #DIRECT is much faster, but GUI shows the running gait
p.setGravity(0, 0, -9.8)
p.setPhysicsEngineParameter(fixedTimeStep=1.0 / 60.,
solverResidualThreshold=1 - 10,
numSolverIterations=50,
numSubSteps=4)
#this mp4 recording requires ffmpeg installed
#mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
p.loadSDF("stadium.sdf")
#p.loadURDF("plane.urdf")
objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",
flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
human = objs[0]
ordered_joints = []
ordered_joint_indices = []
parser = argparse.ArgumentParser()
parser.add_argument('--profile')
jdict = {}
for j in range(p.getNumJoints(human)):
info = p.getJointInfo(human, j)
link_name = info[12].decode("ascii")
if link_name == "left_foot": left_foot = j
if link_name == "right_foot": right_foot = j
ordered_joint_indices.append(j)
if info[2] != p.JOINT_REVOLUTE: continue
jname = info[1].decode("ascii")
jdict[jname] = j
lower, upper = (info[8], info[9])
ordered_joints.append((j, lower, upper))
p.setJointMotorControl2(human, j, controlMode=p.VELOCITY_CONTROL, force=0)
motor_names = ["abdomen_z", "abdomen_y", "abdomen_x"]
motor_power = [100, 100, 100]
motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
motor_power += [100, 100, 300, 200]
motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
motor_power += [100, 100, 300, 200]
motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
motor_power += [75, 75, 75]
motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
motor_power += [75, 75, 75]
motors = [jdict[n] for n in motor_names]
class Dummy:
pass
dummy = Dummy()
dummy.initial_z = None
def current_relative_position(jointStates, human, j, lower, upper):
#print("j")
#print(j)
#print (len(jointStates))
#print(j)
temp = jointStates[j]
pos = temp[0]
vel = temp[1]
#print("pos")
#print(pos)
#print("vel")
#print(vel)
pos_mid = 0.5 * (lower + upper)
return (2 * (pos - pos_mid) / (upper - lower), 0.1 * vel)
def collect_observations(human):
#print("ordered_joint_indices")
#print(ordered_joint_indices)
jointStates = p.getJointStates(human, ordered_joint_indices)
j = np.array([
current_relative_position(jointStates, human, *jtuple) for jtuple in ordered_joints
]).flatten()
#print("j")
#print(j)
body_xyz, (qx, qy, qz, qw) = p.getBasePositionAndOrientation(human)
#print("body_xyz")
#print(body_xyz, qx,qy,qz,qw)
z = body_xyz[2]
dummy.distance = body_xyz[0]
if dummy.initial_z == None:
dummy.initial_z = z
(vx, vy, vz), _ = p.getBaseVelocity(human)
more = np.array([z - dummy.initial_z, 0.1 * vx, 0.1 * vy, 0.1 * vz, qx, qy, qz, qw])
rcont = p.getContactPoints(human, -1, right_foot, -1)
#print("rcont")
#print(rcont)
lcont = p.getContactPoints(human, -1, left_foot, -1)
#print("lcont")
#print(lcont)
feet_contact = np.array([len(rcont) > 0, len(lcont) > 0])
return np.clip(np.concatenate([more] + [j] + [feet_contact]), -5, +5)
class SmallReactivePolicy(object):
def __init__(self, name, ob_space, ac_space):
self.name = name
with tf.variable_scope(name):
batch_of_observations = [None] + list(ob_space.shape)
self.ob = tf.placeholder(dtype=tf.float32, shape=batch_of_observations, name="ob")
x = self.ob
width = 256
self.dense1_w = tf.get_variable("dense1_w", [x.get_shape()[1], width])
self.dense1_b = tf.get_variable("dense1_b", [width])
x = tf.nn.relu(tf.matmul(x, self.dense1_w) + self.dense1_b)
width = 128
self.dense2_w = tf.get_variable("dense2_w", [x.get_shape()[1], width])
self.dense2_b = tf.get_variable("dense2_b", [width])
x = tf.nn.relu(tf.matmul(x, self.dense2_w) + self.dense2_b)
assert (len(ac_space.shape) == 1)
width = ac_space.shape[0]
self.final_w = tf.get_variable("final_w", [x.get_shape()[1], width])
self.final_b = tf.get_variable("final_b", [width])
x = tf.matmul(x, self.final_w) + self.final_b
self.action_node = x
self.all_variables = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES,
tf.get_variable_scope().name)
def act(self, ob):
a = tf.get_default_session().run(self.action_node, feed_dict={self.ob: ob[None]})
return a[0]
def load_weights(self):
assigns = [(self.dense1_w, weights_dense1_w), (self.dense1_b, weights_dense1_b),
(self.dense2_w, weights_dense2_w), (self.dense2_b, weights_dense2_b),
(self.final_w, weights_final_w), (self.final_b, weights_final_b)]
to_run = []
feed_dict = {}
for var, w in assigns:
ph = tf.placeholder(tf.float32, w.shape)
to_run.append(tf.assign(var, ph))
feed_dict[ph] = w
tf.get_default_session().run(to_run, feed_dict=feed_dict)
def demo_run():
sess = tf.InteractiveSession(config=tf.ConfigProto(
inter_op_parallelism_threads=1, intra_op_parallelism_threads=1, device_count={"GPU": 0}))
pi = SmallReactivePolicy("pi", np.zeros((44,)), np.zeros((17,)))
pi.load_weights()
t1 = time.time()
timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "humanoidTimings.json")
frame = 0
while 1:
obs = collect_observations(human)
actions = pi.act(obs)
#print(" ".join(["%+0.2f"%x for x in obs]))
#print("Motors")
#print(motors)
#for m in range(len(motors)):
#print("motor_power")
#print(motor_power[m])
#print("actions[m]")
#print(actions[m])
#p.setJointMotorControl2(human, motors[m], controlMode=p.TORQUE_CONTROL, force=motor_power[m]*actions[m]*0.082)
#p.setJointMotorControl2(human1, motors[m], controlMode=p.TORQUE_CONTROL, force=motor_power[m]*actions[m]*0.082)
forces = [0.] * len(motors)
for m in range(len(motors)):
limit = 15
ac = np.clip(actions[m], -limit, limit)
#print (ac)
forces[m] = motor_power[m] * ac * 0.082
p.setJointMotorControlArray(human, motors, controlMode=p.TORQUE_CONTROL, forces=forces)
p.stepSimulation()
#time.sleep(0.01)
distance = 5
yaw = 0
humanPos, humanOrn = p.getBasePositionAndOrientation(human)
p.resetDebugVisualizerCamera(distance, yaw, -20, humanPos)
frame += 1
if frame == 1000: break
t2 = time.time()
print("############################### distance = %0.2f meters" % dummy.distance)
print("############################### FPS = ", 1000 / (t2 - t1))
#print("Starting benchmark")
#logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json")
#p.stopStateLogging(logId)
print("ended benchmark")
print(frame)
p.stopStateLogging(timinglog)
# yapf: disable
weights_dense1_w = np.array(
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weights_final_w = np.array(
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[
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[
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[
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[
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[
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[
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],
[
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],
[
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[
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[
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[
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[
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],
[
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],
[
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],
[
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+0.1405, -0.4045, -0.0752
],
[
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],
[
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+0.3012, +0.2653, -0.1094
],
[
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],
[
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],
[
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+0.5050, -0.1084, +0.2873, +0.2955, -0.0441, +0.0624, -0.3208,
-0.1248, -0.2148, +0.0624
],
[
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-0.1493, -0.2804, +0.0296, -0.1222, -0.2076, +0.1460, +0.0056,
+0.0618, +0.0620, +0.1078
],
[
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-0.2062, +0.5545, -0.0188, +0.3313, -0.1312, -0.7428, -0.5009,
-0.6418, -0.0003, +0.2460
],
[
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],
[
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],
[
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],
[
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],
[
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],
[
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],
[
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+0.3591, +0.4240, +0.3692, -0.0313, -0.2431, +0.9143, -0.0241,
-0.6210, +0.4646, -0.1512
],
[
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-0.2470, -0.0572, +0.6183, +0.3531, +0.1321, -0.1687, +0.1307,
-0.3712, +0.0199, -0.0776
],
[
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-0.5867, -0.1306, +0.3471, -0.1127, +0.3352, -0.0214, +0.0801,
-0.1368, -0.7262, +0.1757
],
[
+0.0183, -0.0485, +0.1199, +0.2513, +0.2022, -0.0472, +0.3076,
+0.0656, -0.3302, -0.0587, -0.0200, -0.5474, -0.0863, +0.2087,
-0.2581, -0.1750, +0.3391
],
[
-0.2339, +0.0639, +0.2085, -0.1872, -0.2686, +0.1490, +0.0436,
-0.0841, -0.1054, -0.4899, +0.0193, -0.0250, +0.2212, +0.0972,
+0.0329, +0.1328, -0.0545
],
[
-0.0874, -0.1087, -0.1577, +0.0936, -0.3083, -0.1450, +0.0365,
-0.1924, -0.0536, +0.0475, +0.0348, +0.0772, +0.0348, -0.2800,
+0.0864, +0.2640, -0.0215
],
[
+0.0745, +0.4503, -0.4064, +0.6300, -0.1275, -0.0463, -0.4074,
+0.0031, +0.1408, +0.0531, +0.1400, +0.0308, -0.0220, -0.0014,
-0.3056, -0.1551, -0.0096
],
[
+0.1479, +0.1186, +0.1323, -0.3466, -0.0654, -0.1084, -0.2509,
+0.0944, -0.2135, +0.2020, +0.0602, -0.1239, +0.0741, +0.2037,
-0.4462, +0.1065, +0.1710
]])
weights_final_b = np.array([
-0.0274, +0.1314, -0.0578, +0.2965, +0.1318, -0.0622, +0.1158, +0.0643,
+0.2138, -0.1422, +0.1579, +0.0836, -0.0388, -0.0933, +0.2233, -0.2276,
+0.0375
])
# yapf: enable
if __name__ == "__main__":
demo_run()
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