From 1bd201eb434b189c3da09df8554441bc73c2dfa6 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Mon, 11 Feb 2019 08:51:07 -0800
Subject: [PATCH] fixes in PyBullet deep_mimic to allow running in pip version

---
 build_cmake_pybullet_double.sh                   | 12 ++++++++++++
 examples/pybullet/CMakeLists.txt                 | 16 ++++++++++++++++
 .../deep_mimic/learning/agent_builder.py         |  2 +-
 .../learning/nets/fc_2layers_1024units.py        |  2 +-
 .../deep_mimic/learning/nets/net_builder.py      |  2 +-
 .../deep_mimic/learning/pg_agent.py              | 14 +++++++-------
 .../deep_mimic/learning/ppo_agent.py             | 10 +++++-----
 .../deep_mimic/learning/rl_agent.py              |  8 ++++----
 .../deep_mimic/learning/rl_world.py              |  6 +++---
 .../deep_mimic/learning/solvers/mpi_solver.py    |  4 ++--
 .../deep_mimic/learning/tf_agent.py              |  4 ++--
 .../deep_mimic/learning/tf_normalizer.py         |  2 +-
 .../gym/pybullet_envs/deep_mimic/testrl.py       |  2 +-
 13 files changed, 56 insertions(+), 28 deletions(-)

diff --git a/build_cmake_pybullet_double.sh b/build_cmake_pybullet_double.sh
index a811d82ea..8817311f0 100755
--- a/build_cmake_pybullet_double.sh
+++ b/build_cmake_pybullet_double.sh
@@ -12,4 +12,16 @@ cd pybullet
 if [ -e pybullet.dylib ]; then
   ln -f -s pybullet.dylib pybullet.so
 fi
+if [ -e pybullet_envs ]; then
+  rm pybullet_envs
+fi
+if [ -e pybullet_data ]; then
+  rm pybullet_data
+fi
+if [ -e pybullet_utils ]; then
+  rm pybullet_utils
+fi
+ln -s ../../../examples/pybullet/gym/pybullet_envs .
+ln -s ../../../examples/pybullet/gym/pybullet_data .
+ln -s ../../../examples/pybullet/gym/pybullet_utils .
 echo "Completed build of Bullet."
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
index 4e7581ee2..1b791ec7e 100644
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -13,8 +13,24 @@ IF(BUILD_PYBULLET_NUMPY)
 	)
 ENDIF()
 
+ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
+
 SET(pybullet_SRCS
 	pybullet.c
+	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
+        ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
+        ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
+        ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
+        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
+        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
+        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
+        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
+        ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
+        ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
+        ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
+        ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
+        ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
+        ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
 		../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
 		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
 		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/agent_builder.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/agent_builder.py
index ca54f46d5..e2047da98 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/agent_builder.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/agent_builder.py
@@ -1,6 +1,6 @@
 import json
 import numpy as np
-from learning.ppo_agent import PPOAgent
+from pybullet_envs.deep_mimic.learning.ppo_agent import PPOAgent
 import pybullet_data
 
 AGENT_TYPE_KEY = "AgentType"
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/fc_2layers_1024units.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/fc_2layers_1024units.py
index 20f5c0ffa..b4d466124 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/fc_2layers_1024units.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/fc_2layers_1024units.py
@@ -1,5 +1,5 @@
 import tensorflow as tf
-import learning.tf_util as TFUtil
+import pybullet_envs.deep_mimic.learning.tf_util as TFUtil
 
 NAME = "fc_2layers_1024units"
 
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/net_builder.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/net_builder.py
index 1b5983a1b..32328493b 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/net_builder.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/net_builder.py
@@ -1,4 +1,4 @@
-import learning.nets.fc_2layers_1024units as fc_2layers_1024units
+import pybullet_envs.deep_mimic.learning.nets.fc_2layers_1024units as fc_2layers_1024units
 
 def build_net(net_name, input_tfs, reuse=False):
     net = None
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/pg_agent.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/pg_agent.py
index 1f82b8553..75d1bae9a 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/pg_agent.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/pg_agent.py
@@ -2,12 +2,12 @@ import numpy as np
 import tensorflow as tf
 import copy
 
-from learning.tf_agent import TFAgent
-from learning.solvers.mpi_solver import MPISolver
-import learning.tf_util as TFUtil
-import learning.nets.net_builder as NetBuilder
-from learning.tf_normalizer import TFNormalizer
-import learning.rl_util as RLUtil
+from pybullet_envs.deep_mimic.learning.tf_agent import TFAgent
+from pybullet_envs.deep_mimic.learning.solvers.mpi_solver import MPISolver
+import pybullet_envs.deep_mimic.learning.tf_util as TFUtil
+import pybullet_envs.deep_mimic.learning.nets.net_builder as NetBuilder
+from pybullet_envs.deep_mimic.learning.tf_normalizer import TFNormalizer
+import pybullet_envs.deep_mimic.learning.rl_util as RLUtil
 from pybullet_utils.logger import Logger
 import pybullet_utils.mpi_util as MPIUtil
 import pybullet_utils.math_util as MathUtil
@@ -350,4 +350,4 @@ class PGAgent(TFAgent):
     def _build_replay_buffer(self, buffer_size):
         super()._build_replay_buffer(buffer_size)
         self.replay_buffer.add_filter_key(self.EXP_ACTION_FLAG)
-        return
\ No newline at end of file
+        return
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/ppo_agent.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/ppo_agent.py
index ece705302..ff66ba004 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/ppo_agent.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/ppo_agent.py
@@ -2,10 +2,10 @@ import numpy as np
 import copy as copy
 import tensorflow as tf
 
-from learning.pg_agent import PGAgent
-from learning.solvers.mpi_solver import MPISolver
-import learning.tf_util as TFUtil
-import learning.rl_util as RLUtil
+from pybullet_envs.deep_mimic.learning.pg_agent import PGAgent
+from pybullet_envs.deep_mimic.learning.solvers.mpi_solver import MPISolver
+import pybullet_envs.deep_mimic.learning.tf_util as TFUtil
+import pybullet_envs.deep_mimic.learning.rl_util as RLUtil
 from pybullet_utils.logger import Logger
 import pybullet_utils.mpi_util as MPIUtil
 import pybullet_utils.math_util as MathUtil
@@ -365,4 +365,4 @@ class PPOAgent(PGAgent):
             self._actor_stepsize_ph: stepsize,
         }
         self.sess.run(self._actor_stepsize_update_op, feed)
-        return
\ No newline at end of file
+        return
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py
index 3e66eb270..9b155326f 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py
@@ -6,10 +6,10 @@ import time
 from abc import ABC, abstractmethod
 from enum import Enum
 
-from learning.path import *
-from learning.exp_params import ExpParams
-from learning.normalizer import Normalizer
-from learning.replay_buffer import ReplayBuffer
+from pybullet_envs.deep_mimic.learning.path import *
+from pybullet_envs.deep_mimic.learning.exp_params import ExpParams
+from pybullet_envs.deep_mimic.learning.normalizer import Normalizer
+from pybullet_envs.deep_mimic.learning.replay_buffer import ReplayBuffer
 from pybullet_utils.logger import Logger
 import pybullet_utils.mpi_util as MPIUtil
 import pybullet_utils.math_util as MathUtil
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_world.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_world.py
index 3fd7bee76..a1761bc30 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_world.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_world.py
@@ -1,7 +1,7 @@
 import numpy as np
-import learning.agent_builder as AgentBuilder
-import learning.tf_util as TFUtil
-from learning.rl_agent import RLAgent
+import pybullet_envs.deep_mimic.learning.agent_builder as AgentBuilder
+import pybullet_envs.deep_mimic.learning.tf_util as TFUtil
+from pybullet_envs.deep_mimic.learning.rl_agent import RLAgent
 from pybullet_utils.logger import Logger
 import pybullet_data
 
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/mpi_solver.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/mpi_solver.py
index 46c0963fa..f2d18051c 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/mpi_solver.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/mpi_solver.py
@@ -1,12 +1,12 @@
 from mpi4py import MPI
 import tensorflow as tf
 import numpy as np
-import learning.tf_util as TFUtil
+import pybullet_envs.deep_mimic.learning.tf_util as TFUtil
 import pybullet_utils.math_util as MathUtil
 import pybullet_utils.mpi_util as MPIUtil
 from pybullet_utils.logger import Logger
 
-from learning.solvers.solver import Solver
+from pybullet_envs.deep_mimic.learning.solvers.solver import Solver
 
 class MPISolver(Solver):
     CHECK_SYNC_ITERS = 1000
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_agent.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_agent.py
index 51dc5e88a..95d707140 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_agent.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_agent.py
@@ -2,9 +2,9 @@ import numpy as np
 import tensorflow as tf
 from abc import abstractmethod
 
-from learning.rl_agent import RLAgent
+from pybullet_envs.deep_mimic.learning.rl_agent import RLAgent
 from pybullet_utils.logger import Logger
-from learning.tf_normalizer import TFNormalizer
+from pybullet_envs.deep_mimic.learning.tf_normalizer import TFNormalizer
 
 class TFAgent(RLAgent):
     RESOURCE_SCOPE = 'resource'
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_normalizer.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_normalizer.py
index ecbddc95b..82f5745f0 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_normalizer.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_normalizer.py
@@ -1,7 +1,7 @@
 import numpy as np
 import copy
 import tensorflow as tf
-from learning.normalizer import Normalizer
+from pybullet_envs.deep_mimic.learning.normalizer import Normalizer
 
 class TFNormalizer(Normalizer):
 
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
index 31b976563..39c015f6b 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
@@ -6,7 +6,7 @@ os.sys.path.insert(0,parentdir)
 print("parentdir=",parentdir)
 import json
 from pybullet_envs.deep_mimic.learning.rl_world import RLWorld
-from learning.ppo_agent import PPOAgent
+from pybullet_envs.deep_mimic.learning.ppo_agent import PPOAgent
 
 import pybullet_data
 from pybullet_utils.arg_parser import ArgParser