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fixes in PyBullet deep_mimic to allow running in pip version

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This commit is contained in:
Erwin Coumans
2019-02-11 08:51:07 -08:00
parent 12e6478689
commit 1bd201eb43
13 changed files with 56 additions and 28 deletions
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12
build_cmake_pybullet_double.sh
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@@ -12,4 +12,16 @@ cd pybullet
if [ -e pybullet.dylib ]; then if [ -e pybullet.dylib ]; then
ln -f -s pybullet.dylib pybullet.so ln -f -s pybullet.dylib pybullet.so
fi 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." echo "Completed build of Bullet."

16
examples/pybullet/CMakeLists.txt
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@@ -13,8 +13,24 @@ IF(BUILD_PYBULLET_NUMPY)
) )
ENDIF() ENDIF()
ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
SET(pybullet_SRCS SET(pybullet_SRCS
pybullet.c 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/collisionFilterPlugin/collisionFilterPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp ../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h ../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h

2
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/agent_builder.py
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@@ -1,6 +1,6 @@
import json import json
import numpy as np import numpy as np
from learning.ppo_agent import PPOAgent from pybullet_envs.deep_mimic.learning.ppo_agent import PPOAgent
import pybullet_data import pybullet_data
AGENT_TYPE_KEY = "AgentType" AGENT_TYPE_KEY = "AgentType"

2
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/fc_2layers_1024units.py
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@@ -1,5 +1,5 @@
import tensorflow as tf import tensorflow as tf
import learning.tf_util as TFUtil import pybullet_envs.deep_mimic.learning.tf_util as TFUtil
NAME = "fc_2layers_1024units" NAME = "fc_2layers_1024units"

2
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/net_builder.py
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@@ -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): def build_net(net_name, input_tfs, reuse=False):
net = None net = None

12
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/pg_agent.py
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@@ -2,12 +2,12 @@ import numpy as np
import tensorflow as tf import tensorflow as tf
import copy import copy
from learning.tf_agent import TFAgent from pybullet_envs.deep_mimic.learning.tf_agent import TFAgent
from learning.solvers.mpi_solver import MPISolver from pybullet_envs.deep_mimic.learning.solvers.mpi_solver import MPISolver
import learning.tf_util as TFUtil import pybullet_envs.deep_mimic.learning.tf_util as TFUtil
import learning.nets.net_builder as NetBuilder import pybullet_envs.deep_mimic.learning.nets.net_builder as NetBuilder
from learning.tf_normalizer import TFNormalizer from pybullet_envs.deep_mimic.learning.tf_normalizer import TFNormalizer
import learning.rl_util as RLUtil import pybullet_envs.deep_mimic.learning.rl_util as RLUtil
from pybullet_utils.logger import Logger from pybullet_utils.logger import Logger
import pybullet_utils.mpi_util as MPIUtil import pybullet_utils.mpi_util as MPIUtil
import pybullet_utils.math_util as MathUtil import pybullet_utils.math_util as MathUtil

8
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/ppo_agent.py
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@@ -2,10 +2,10 @@ import numpy as np
import copy as copy import copy as copy
import tensorflow as tf import tensorflow as tf
from learning.pg_agent import PGAgent from pybullet_envs.deep_mimic.learning.pg_agent import PGAgent
from learning.solvers.mpi_solver import MPISolver from pybullet_envs.deep_mimic.learning.solvers.mpi_solver import MPISolver
import learning.tf_util as TFUtil import pybullet_envs.deep_mimic.learning.tf_util as TFUtil
import learning.rl_util as RLUtil import pybullet_envs.deep_mimic.learning.rl_util as RLUtil
from pybullet_utils.logger import Logger from pybullet_utils.logger import Logger
import pybullet_utils.mpi_util as MPIUtil import pybullet_utils.mpi_util as MPIUtil
import pybullet_utils.math_util as MathUtil import pybullet_utils.math_util as MathUtil

8
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py
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@@ -6,10 +6,10 @@ import time
from abc import ABC, abstractmethod from abc import ABC, abstractmethod
from enum import Enum from enum import Enum
from learning.path import * from pybullet_envs.deep_mimic.learning.path import *
from learning.exp_params import ExpParams from pybullet_envs.deep_mimic.learning.exp_params import ExpParams
from learning.normalizer import Normalizer from pybullet_envs.deep_mimic.learning.normalizer import Normalizer
from learning.replay_buffer import ReplayBuffer from pybullet_envs.deep_mimic.learning.replay_buffer import ReplayBuffer
from pybullet_utils.logger import Logger from pybullet_utils.logger import Logger
import pybullet_utils.mpi_util as MPIUtil import pybullet_utils.mpi_util as MPIUtil
import pybullet_utils.math_util as MathUtil import pybullet_utils.math_util as MathUtil

6
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_world.py
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@@ -1,7 +1,7 @@
import numpy as np import numpy as np
import learning.agent_builder as AgentBuilder import pybullet_envs.deep_mimic.learning.agent_builder as AgentBuilder
import learning.tf_util as TFUtil import pybullet_envs.deep_mimic.learning.tf_util as TFUtil
from learning.rl_agent import RLAgent from pybullet_envs.deep_mimic.learning.rl_agent import RLAgent
from pybullet_utils.logger import Logger from pybullet_utils.logger import Logger
import pybullet_data import pybullet_data

4
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/mpi_solver.py
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@@ -1,12 +1,12 @@
from mpi4py import MPI from mpi4py import MPI
import tensorflow as tf import tensorflow as tf
import numpy as np 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.math_util as MathUtil
import pybullet_utils.mpi_util as MPIUtil import pybullet_utils.mpi_util as MPIUtil
from pybullet_utils.logger import Logger 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): class MPISolver(Solver):
CHECK_SYNC_ITERS = 1000 CHECK_SYNC_ITERS = 1000

4
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_agent.py
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@@ -2,9 +2,9 @@ import numpy as np
import tensorflow as tf import tensorflow as tf
from abc import abstractmethod 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 pybullet_utils.logger import Logger
from learning.tf_normalizer import TFNormalizer from pybullet_envs.deep_mimic.learning.tf_normalizer import TFNormalizer
class TFAgent(RLAgent): class TFAgent(RLAgent):
RESOURCE_SCOPE = 'resource' RESOURCE_SCOPE = 'resource'

2
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_normalizer.py
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@@ -1,7 +1,7 @@
import numpy as np import numpy as np
import copy import copy
import tensorflow as tf import tensorflow as tf
from learning.normalizer import Normalizer from pybullet_envs.deep_mimic.learning.normalizer import Normalizer
class TFNormalizer(Normalizer): class TFNormalizer(Normalizer):

2
examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
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@@ -6,7 +6,7 @@ os.sys.path.insert(0,parentdir)
print("parentdir=",parentdir) print("parentdir=",parentdir)
import json import json
from pybullet_envs.deep_mimic.learning.rl_world import RLWorld 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 import pybullet_data
from pybullet_utils.arg_parser import ArgParser from pybullet_utils.arg_parser import ArgParser