修正了上次问题——可视化PHC在训练中模拟高质量动作捕捉（MoCap）数据——AMASS火车肚皮舞

src/biomechanical_hcl_smart_simulation_platform/train_belly_dancing.py

@@ -0,0 +1,101 @@
+import torch
+from rl_games.common import datasets
+
+class AMPDataset(datasets.PPODataset):
+    def __init__(self, batch_size, minibatch_size, is_discrete, is_rnn, device, seq_len):
+        super().__init__(batch_size, minibatch_size, is_discrete, is_rnn, device, seq_len)
+        self._idx_buf = torch.randperm(self.batch_size)
+
+
+
+        return
+
+    def update_mu_sigma(self, mu, sigma):	  
+        raise NotImplementedError()
+        return
+
+    # def _get_item_rnn(self, idx):
+    #     gstart = idx * self.num_games_batch
+    #     gend = (idx + 1) * self.num_games_batch
+    #     start = gstart * self.seq_len
+    #     end = gend * self.seq_len
+    #     self.last_range = (start, end)   
+    #     input_dict = {}
+    #     for k,v in self.values_dict.items():
+    #         if k not in self.special_names:
+    #             if v is dict:
+    #                 v_dict = { kd:vd[start:end] for kd, vd in v.items() }
+    #                 input_dict[k] = v_dict
+    #             else:
+    #                 input_dict[k] = v[start:end]
+
+    #     rnn_states = self.values_dict['rnn_states']
+    #     input_dict['rnn_states'] = [s[:,gstart:gend,:] for s in rnn_states]
+    #     return input_dict
+
+    def update_values_dict(self, values_dict, rnn_format = False, horizon_length = 1, num_envs = 1):
+        self.values_dict = values_dict     
+        self.horizon_length = horizon_length
+        self.num_envs = num_envs
+
+        if rnn_format and self.is_rnn:
+            for k,v in self.values_dict.items():
+                if k not in self.special_names and v is not None:
+                    self.values_dict[k] = self.values_dict[k].view(self.num_envs,  self.horizon_length, -1).squeeze() # Actions are already swapped to the correct format. 
+            if not self.values_dict['rnn_states'] is None:
+                self.values_dict['rnn_states'] = [s.reshape(self.num_envs,  self.horizon_length, -1) for s in self.values_dict['rnn_states']] # rnn_states are not swapped in AMP, so do not swap it here. 
+            self._idx_buf = torch.randperm(self.num_envs) # Update to only shuffle the envs.
+
+    # def _get_item_rnn(self, idx):
+    #     data = super()._get_item_rnn(idx)
+    #     import ipdb; ipdb.set_trace()
+    #     return data
+
+    def _get_item_rnn(self, idx):
+        # ZL: I am doubling the get_item_rnn function to in a way also get the sequential data. Pretty hacky. 
+        # BPTT, input dict is [batch, seqlen, features]. This function return the sequences that are from the same episide and enviornment in sequentila mannar. Not used at the moment since seq_len is set to 1 for RNN right now. 
+        step_size = int(self.minibatch_size/self.horizon_length)
+
+        start = idx * step_size
+        end = (idx + 1) * step_size
+        sample_idx = self._idx_buf[start:end]
+
+        input_dict = {}
+
+        for k,v in self.values_dict.items():
+            if k not in self.special_names and v is not None:
+                input_dict[k] = v[sample_idx, :].view(step_size * self.horizon_length, -1).squeeze() # flatten to batch size 
+
+        input_dict['old_values'] = input_dict['old_values'][:, None] # ZL Hack: following compute assumes that the old_values is [batch, 1], so has to change this back. Otherwise, the loss will be wrong.
+        input_dict['returns'] = input_dict['returns'][:, None] # ZL Hack: following compute assumes that the old_values is [batch, 1], so has to change this back. Otherwise, the loss will be wrong.
+
+        if not self.values_dict['rnn_states'] is None:
+            input_dict['rnn_states'] = [s[sample_idx, :].view(step_size * self.horizon_length, -1) for s in self.values_dict["rnn_states"]]
+
+        if (end >= self.batch_size):
+            self._shuffle_idx_buf()
+
+
+        return input_dict
+
+    def _get_item(self, idx):
+        start = idx * self.minibatch_size
+        end = (idx + 1) * self.minibatch_size
+        sample_idx = self._idx_buf[start:end]
+
+        input_dict = {}
+        for k,v in self.values_dict.items():
+            if k not in self.special_names and v is not None:
+                input_dict[k] = v[sample_idx]
+
+        if (end >= self.batch_size):
+            self._shuffle_idx_buf()
+
+        return input_dict
+
+    def _shuffle_idx_buf(self):
+        if self.is_rnn:
+            self._idx_buf = torch.randperm(self.num_envs)
+        else:
+            self._idx_buf[:] = torch.randperm(self.batch_size)
+        return