From 21f9d1b816a2713588bbe8f517d2314ad2f3d17b Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 22 Aug 2017 00:42:02 -0700 Subject: [PATCH] refactor pybullet/gym to allow instantiating environments directly from a pybullet install: work-in-progress (need to add missing data files, fix paths etc) example: pip install pybullet pip install gym python import gym import pybullet import pybullet_envs env = gym.make("HumanoidBulletEnv-v0") --- MANIFEST.in | 2 + examples/pybullet/gym/agents/__init__.py | 0 examples/pybullet/gym/agents/actor_net.py | 21 - examples/pybullet/gym/agents/simpleAgent.py | 37 - .../gym/agents/simpleAgentWithSonnet.py | 46 - ..._data_converted.ckpt-0.data-00000-of-00001 | Bin 227876 -> 0 bytes .../tf_graph_data_converted.ckpt-0.index | Bin 288 -> 0 bytes .../tf_graph_data_converted.ckpt-0.meta | Bin 25793 -> 0 bytes .../gym/enjoy_TF_AntBulletEnv_v0_2017may.py | 2 +- ...njoy_TF_HalfCheetahBulletEnv_v0_2017may.py | 2 +- .../enjoy_TF_HopperBulletEnv_v0_2017may.py | 2 +- .../enjoy_TF_HumanoidBulletEnv_v0_2017may.py | 2 +- ...ertedDoublePendulumBulletEnv_v0_2017may.py | 2 +- ...TF_InvertedPendulumBulletEnv_v0_2017may.py | 2 +- ...rtedPendulumSwingupBulletEnv_v0_2017may.py | 2 +- examples/pybullet/gym/enjoy_kuka_grasping.py | 2 +- .../pybullet/gym/enjoy_pybullet_cartpole.py | 2 +- .../pybullet/gym/enjoy_pybullet_racecar.py | 2 +- .../gym/enjoy_pybullet_zed_racecar.py | 2 +- examples/pybullet/gym/envs/bullet/__init__.py | 7 - examples/pybullet/gym/kukaGymEnvTest.py | 2 +- .../pybullet/gym/kukaJointSpaceGymEnvTest.py | 2 +- examples/pybullet/gym/minitaurGymEnvTest.py | 2 +- .../gym/{envs => pybullet_envs}/__init__.py | 40 +- .../gym/pybullet_envs/bullet/__init__.py | 7 + .../bullet/cartpole_bullet.py | 2 +- .../{envs => pybullet_envs}/bullet/kuka.py | 5 +- .../bullet/kukaCamGymEnv.py | 7 +- .../bullet/kukaGymEnv.py | 0 .../bullet/minitaur.py | 0 .../bullet/minitaurGymEnv.py | 0 .../bullet/minitaur_bullet.py | 2 +- .../bullet/minitaur_new.py | 0 .../{envs => pybullet_envs}/bullet/racecar.py | 0 .../bullet/racecarGymEnv.py | 0 .../bullet/racecarZEDGymEnv.py | 0 .../bullet/simpleHumanoid.py | 0 .../bullet/simpleHumanoidGymEnv.py | 0 .../gym/pybullet_envs/data/block.urdf | 29 + .../gym/pybullet_envs/data/cartpole.urdf | 74 + .../gym/pybullet_envs/data/checker_blue.png | Bin 0 -> 6379 bytes .../data/kuka_iiwa/kuka_with_gripper.sdf | 802 + .../data/kuka_iiwa/kuka_with_gripper2.sdf | 857 + .../data/kuka_iiwa/kuka_world.sdf | 414 + .../kuka_iiwa/meshes/finger_base_left.stl | Bin 0 -> 10084 bytes .../kuka_iiwa/meshes/finger_base_right.stl | Bin 0 -> 10084 bytes .../data/kuka_iiwa/meshes/finger_tip_left.stl | Bin 0 -> 6984 bytes .../kuka_iiwa/meshes/finger_tip_right.stl | Bin 0 -> 6984 bytes .../data/kuka_iiwa/meshes/link_0.mtl | 10 + .../data/kuka_iiwa/meshes/link_0.obj | 6055 +++ .../data/kuka_iiwa/meshes/link_0.stl | Bin 0 -> 151984 bytes .../data/kuka_iiwa/meshes/link_1.mtl | 10 + .../data/kuka_iiwa/meshes/link_1.obj | 5576 +++ 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.../pybullet_envs/data/kuka_iiwa/model.sdf | 459 + .../pybullet_envs/data/kuka_iiwa/model.urdf | 289 + .../pybullet_envs/data/kuka_iiwa/model2.sdf | 818 + .../data/kuka_iiwa/model_for_sdf.urdf | 285 + .../data/kuka_iiwa/model_free_base.urdf | 289 + .../data/kuka_iiwa/model_vr_limits.urdf | 289 + .../gym/pybullet_envs/data/mjcf/ant.xml | 71 + .../gym/pybullet_envs/data/mjcf/capsule.xml | 13 + .../data/mjcf/capsule_fromtoX.xml | 13 + .../data/mjcf/capsule_fromtoY.xml | 13 + .../data/mjcf/capsule_fromtoZ.xml | 13 + .../gym/pybullet_envs/data/mjcf/cylinder.xml | 13 + .../data/mjcf/cylinder_fromtoX.xml | 13 + .../data/mjcf/cylinder_fromtoY.xml | 13 + .../data/mjcf/cylinder_fromtoZ.xml | 13 + .../gym/pybullet_envs/data/mjcf/ground.xml | 57 + .../pybullet_envs/data/mjcf/ground_plane.xml | 5 + .../pybullet_envs/data/mjcf/half_cheetah.xml | 88 + .../pybullet_envs/data/mjcf/hello_mjcf.xml | 13 + .../gym/pybullet_envs/data/mjcf/hopper.xml | 39 + .../gym/pybullet_envs/data/mjcf/humanoid.xml | 130 + .../data/mjcf/humanoid_fixed.xml | 115 + .../data/mjcf/humanoid_symmetric.xml | 107 + .../mjcf/humanoid_symmetric_no_ground.xml | 115 + .../data/mjcf/inverted_double_pendulum.xml | 47 + .../data/mjcf/inverted_pendulum.xml | 27 + .../gym/pybullet_envs/data/mjcf/pusher.xml | 90 + .../gym/pybullet_envs/data/mjcf/reacher.xml | 39 + .../gym/pybullet_envs/data/mjcf/striker.xml | 100 + .../gym/pybullet_envs/data/mjcf/swimmer.xml | 38 + .../gym/pybullet_envs/data/mjcf/thrower.xml | 127 + .../gym/pybullet_envs/data/mjcf/walker2d.xml | 52 + .../pybullet/gym/pybullet_envs/data/plane.mtl | 15 + .../pybullet/gym/pybullet_envs/data/plane.obj | 18 + .../gym/pybullet_envs/data/plane.urdf | 29 + .../models_outdoor/stadium/part0.obj | 23154 ++++++++++++ .../models_outdoor/stadium/part1.obj | 16210 ++++++++ .../models_outdoor/stadium/part2.obj | 8350 +++++ .../models_outdoor/stadium/stadium.mtl | 16 + .../models_outdoor/stadium/stadium.obj | 30561 ++++++++++++++++ .../models_outdoor/stadium/stadium_grass.jpg | Bin 0 -> 1054660 bytes .../gym/pybullet_envs/data/stadium.sdf | 107 + .../gym/pybullet_envs/data/table/table.mtl | 16 + .../gym/pybullet_envs/data/table/table.obj | 48 + .../gym/pybullet_envs/data/table/table.png | Bin 0 -> 867274 bytes .../gym/pybullet_envs/data/table/table.urdf | 56 + .../gym/pybullet_envs/data/tray/tray.jpg | Bin 0 -> 369344 bytes .../gym/pybullet_envs/data/tray/tray.urdf | 30 + .../pybullet_envs/data/tray/tray_textured.mtl | 13 + .../pybullet_envs/data/tray/tray_textured.obj | 213 + .../data/tray/tray_textured2.mtl | 13 + .../data/tray/tray_textured2.obj | 255 + .../data/tray/tray_textured2.urdf | 24 + .../data/tray/tray_textured4.mtl | 13 + .../data/tray/tray_textured4.obj | 256 + .../gym/pybullet_envs/data/tray/traybox.urdf | 49 + .../gym/{envs => pybullet_envs}/env_bases.py | 0 .../gym_locomotion_envs.py | 0 .../gym_pendulum_envs.py | 0 .../{envs => pybullet_envs}/kerasrl_utils.py | 0 .../{envs => pybullet_envs}/robot_bases.py | 6 +- .../robot_locomotors.py | 0 .../{envs => pybullet_envs}/robot_pendula.py | 0 .../{envs => pybullet_envs}/scene_abstract.py | 0 .../{envs => pybullet_envs}/scene_stadium.py | 6 +- examples/pybullet/gym/racecarGymEnvTest.py | 2 +- examples/pybullet/gym/racecarZEDGymEnvTest.py | 2 +- .../pybullet/gym/simpleHumanoidGymEnvTest.py | 2 +- .../pybullet/gym/train_kuka_cam_grasping.py | 2 +- examples/pybullet/gym/train_kuka_grasping.py | 2 +- .../pybullet/gym/train_pybullet_cartpole.py | 2 +- .../pybullet/gym/train_pybullet_racecar.py | 2 +- .../gym/train_pybullet_zed_racecar.py | 2 +- .../pybullet/gym/trpo_cartpole_bullet_gym.py | 31 - .../gym/trpo_tf_cartpole_bullet_gym.py | 35 - setup.py | 27 +- 148 files changed, 115471 insertions(+), 235 deletions(-) delete mode 100644 examples/pybullet/gym/agents/__init__.py delete mode 100644 examples/pybullet/gym/agents/actor_net.py delete mode 100644 examples/pybullet/gym/agents/simpleAgent.py delete mode 100644 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create mode 100644 examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.mtl create mode 100644 examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.obj create mode 100644 examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.urdf create mode 100755 examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.mtl create mode 100755 examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.obj create mode 100644 examples/pybullet/gym/pybullet_envs/data/tray/traybox.urdf rename examples/pybullet/gym/{envs => pybullet_envs}/env_bases.py (100%) rename examples/pybullet/gym/{envs => pybullet_envs}/gym_locomotion_envs.py (100%) rename examples/pybullet/gym/{envs => pybullet_envs}/gym_pendulum_envs.py (100%) rename examples/pybullet/gym/{envs => pybullet_envs}/kerasrl_utils.py (100%) rename examples/pybullet/gym/{envs => pybullet_envs}/robot_bases.py (96%) rename examples/pybullet/gym/{envs => pybullet_envs}/robot_locomotors.py (100%) rename examples/pybullet/gym/{envs => pybullet_envs}/robot_pendula.py (100%) rename examples/pybullet/gym/{envs => pybullet_envs}/scene_abstract.py (100%) rename examples/pybullet/gym/{envs => pybullet_envs}/scene_stadium.py (81%) delete mode 100644 examples/pybullet/gym/trpo_cartpole_bullet_gym.py delete mode 100644 examples/pybullet/gym/trpo_tf_cartpole_bullet_gym.py diff --git a/MANIFEST.in b/MANIFEST.in index f81f5f520..35db1b38e 100644 --- a/MANIFEST.in +++ b/MANIFEST.in @@ -5,6 +5,8 @@ recursive-include Extras *.h recursive-include Extras *.hpp recursive-include src *.h recursive-include src *.hpp +recursive-include data *.* +recursive-include examples/pybullet/gym *.* include examples/ThirdPartyLibs/enet/unix.c include examples/OpenGLWindow/X11OpenGLWindow.cpp include examples/ThirdPartyLibs/Glew/glew.c diff --git a/examples/pybullet/gym/agents/__init__.py b/examples/pybullet/gym/agents/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/examples/pybullet/gym/agents/actor_net.py b/examples/pybullet/gym/agents/actor_net.py deleted file mode 100644 index ac6aaff8a..000000000 --- a/examples/pybullet/gym/agents/actor_net.py +++ /dev/null @@ -1,21 +0,0 @@ -"""An actor network.""" -import tensorflow as tf -import sonnet as snt - -class ActorNetwork(snt.AbstractModule): - """An actor network as a sonnet Module.""" - - def __init__(self, layer_sizes, action_size, name='target_actor'): - super(ActorNetwork, self).__init__(name=name) - self._layer_sizes = layer_sizes - self._action_size = action_size - - def _build(self, inputs): - state = inputs - for output_size in self._layer_sizes: - state = snt.Linear(output_size)(state) - state = tf.nn.relu(state) - - action = tf.tanh( - snt.Linear(self._action_size, name='action')(state)) - return action diff --git a/examples/pybullet/gym/agents/simpleAgent.py b/examples/pybullet/gym/agents/simpleAgent.py deleted file mode 100644 index 8f399566c..000000000 --- a/examples/pybullet/gym/agents/simpleAgent.py +++ /dev/null @@ -1,37 +0,0 @@ -"""Loads a DDPG agent without too much external dependencies -""" -from __future__ import absolute_import -from __future__ import division -from __future__ import print_function - -import os -import collections -import numpy as np -import tensorflow as tf -import pdb - -class SimpleAgent(): - def __init__( - self, - session, - ckpt_path, - actor_layer_size, - observation_dim=28 - ): - self._ckpt_path = ckpt_path - self._session = session - self._observation_dim = observation_dim - self._build() - - def _build(self): - saver = tf.train.import_meta_graph(self._ckpt_path + '.meta') - saver.restore( - sess=self._session, - save_path=self._ckpt_path) - self._action = tf.get_collection('action_op')[0] - self._obs = tf.get_collection('observation_placeholder')[0] - - def __call__(self, observation): - feed_dict={self._obs: observation} - out_action = self._session.run(self._action, feed_dict=feed_dict) - return out_action[0] diff --git a/examples/pybullet/gym/agents/simpleAgentWithSonnet.py b/examples/pybullet/gym/agents/simpleAgentWithSonnet.py deleted file mode 100644 index 6af4be61d..000000000 --- a/examples/pybullet/gym/agents/simpleAgentWithSonnet.py +++ /dev/null @@ -1,46 +0,0 @@ -"""Loads a DDPG agent without too much external dependencies -""" -from __future__ import absolute_import -from __future__ import division -from __future__ import print_function - -import os -import collections -import numpy as np -import tensorflow as tf - -import sonnet as snt -from agents import actor_net - -class SimpleAgent(): - def __init__( - self, - session, - ckpt_path, - actor_layer_size, - observation_size=(28,), - action_size=8, - ): - self._ckpt_path = ckpt_path - self._actor_layer_size = actor_layer_size - self._observation_size = observation_size - self._action_size = action_size - self._session = session - self._build() - - def _build(self): - self._agent_net = actor_net.ActorNetwork(self._actor_layer_size, self._action_size) - self._obs = tf.placeholder(tf.float32, self._observation_size) - with tf.name_scope('Act'): - batch_obs = snt.nest.pack_iterable_as(self._obs, - snt.nest.map(lambda x: tf.expand_dims(x, 0), - snt.nest.flatten_iterable(self._obs))) - self._action = self._agent_net(batch_obs) - saver = tf.train.Saver() - saver.restore( - sess=self._session, - save_path=self._ckpt_path) - - def __call__(self, observation): - out_action = self._session.run(self._action, feed_dict={self._obs: observation}) - return out_action[0] diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.data-00000-of-00001 b/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.data-00000-of-00001 deleted file mode 100644 index d0d344013cb4de9025a998ff123cc355d82771e2..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 227876 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b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.obj @@ -0,0 +1,6055 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib link_0.mtl +o Link_0 +v -0.073270 0.085817 0.012943 +v -0.074438 0.081518 0.013000 +v -0.069707 0.083749 0.012943 +v -0.067291 0.072243 0.012925 +v -0.066385 0.076350 0.012920 +v -0.070874 0.076639 0.013000 +v -0.071758 0.079481 0.012999 +v -0.067309 0.080461 0.012939 +v -0.071201 0.074480 0.013000 +v -0.069623 0.069042 0.012934 +v -0.079194 0.071573 0.012999 +v -0.084443 0.070536 0.012940 +v -0.081332 0.067719 0.012931 +v -0.077390 0.066456 0.012934 +v -0.076056 0.070876 0.013000 +v -0.076596 0.081863 0.013000 +v -0.077352 0.086270 0.012940 +v -0.073228 0.071776 0.013000 +v -0.073203 0.066924 0.012920 +v -0.078621 0.081384 0.013000 +v -0.081415 0.084974 0.012924 +v -0.084448 0.082173 0.012942 +v -0.081078 0.079329 0.012999 +v -0.081330 0.073997 0.013000 +v -0.086054 0.074207 0.012961 +v -0.081882 0.076197 0.013000 +v -0.086054 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File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.obj b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.obj new file mode 100644 index 000000000..b8c357643 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.obj @@ -0,0 +1,3168 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib link_4.mtl +o Link_4 +v 0.022132 0.012135 -0.010500 +v 0.024881 0.001466 -0.010500 +v -0.022132 -0.012135 -0.010500 +v 0.025000 -0.000000 -0.010500 +v 0.024476 -0.005945 -0.010500 +v -0.024881 -0.001466 -0.010500 +v -0.025000 -0.000000 -0.010500 +v -0.024476 0.005945 -0.010500 +v -0.012135 0.022132 -0.010500 +v 0.006869 0.024127 -0.010500 +v -0.020323 0.014706 -0.010500 +v 0.014706 0.020323 -0.010500 +v 0.020323 -0.014706 -0.010500 +v -0.006869 -0.024127 -0.010500 +v -0.014706 -0.020323 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_free_base.urdf b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_free_base.urdf new file mode 100644 index 000000000..b87373346 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_free_base.urdf @@ -0,0 +1,289 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_vr_limits.urdf b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_vr_limits.urdf new file mode 100644 index 000000000..a5bff40ab --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_vr_limits.urdf @@ -0,0 +1,289 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/ant.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/ant.xml new file mode 100644 index 000000000..311d96feb --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/ant.xml @@ -0,0 +1,71 @@ + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule.xml new file mode 100644 index 000000000..7e58ce12c --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoX.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoX.xml new file mode 100644 index 000000000..1ae780cec --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoX.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoY.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoY.xml new file mode 100644 index 000000000..60bc24564 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoY.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoZ.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoZ.xml new file mode 100644 index 000000000..34c37fdbe --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoZ.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder.xml new file mode 100644 index 000000000..a447ab03b --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoX.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoX.xml new file mode 100644 index 000000000..1746fc0e1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoX.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoY.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoY.xml new file mode 100644 index 000000000..8eea2fc53 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoY.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoZ.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoZ.xml new file mode 100644 index 000000000..84fe829cd --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoZ.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/ground.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/ground.xml new file mode 100644 index 000000000..a53452f44 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/ground.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/ground_plane.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/ground_plane.xml new file mode 100644 index 000000000..0212c7f1b --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/ground_plane.xml @@ -0,0 +1,5 @@ + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/half_cheetah.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/half_cheetah.xml new file mode 100644 index 000000000..418eef56d --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/half_cheetah.xml @@ -0,0 +1,88 @@ + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/hello_mjcf.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/hello_mjcf.xml new file mode 100644 index 000000000..b434868d0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/hello_mjcf.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/hopper.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/hopper.xml new file mode 100644 index 000000000..077160345 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/hopper.xml @@ -0,0 +1,39 @@ + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid.xml new file mode 100644 index 000000000..2ed2f55ec --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid.xml @@ -0,0 +1,130 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_fixed.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_fixed.xml new file mode 100644 index 000000000..94e1dd2a0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_fixed.xml @@ -0,0 +1,115 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric.xml new file mode 100644 index 000000000..d7ba9f494 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric.xml @@ -0,0 +1,107 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric_no_ground.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric_no_ground.xml new file mode 100644 index 000000000..0c2f2befa --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric_no_ground.xml @@ -0,0 +1,115 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_double_pendulum.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_double_pendulum.xml new file mode 100644 index 000000000..755cefd44 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_double_pendulum.xml @@ -0,0 +1,47 @@ + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_pendulum.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_pendulum.xml new file mode 100644 index 000000000..b409b3b11 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_pendulum.xml @@ -0,0 +1,27 @@ + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/pusher.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/pusher.xml new file mode 100644 index 000000000..bac3d7ace --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/pusher.xml @@ -0,0 +1,90 @@ + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/reacher.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/reacher.xml new file mode 100644 index 000000000..82b224ff6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/reacher.xml @@ -0,0 +1,39 @@ + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/striker.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/striker.xml new file mode 100644 index 000000000..59898d74f --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/striker.xml @@ -0,0 +1,100 @@ + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/swimmer.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/swimmer.xml new file mode 100644 index 000000000..cda25da9d --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/swimmer.xml @@ -0,0 +1,38 @@ + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/thrower.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/thrower.xml new file mode 100644 index 000000000..fcb39f524 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/thrower.xml @@ -0,0 +1,127 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/walker2d.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/walker2d.xml new file mode 100644 index 000000000..f1905c067 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/walker2d.xml @@ -0,0 +1,52 @@ + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/plane.mtl b/examples/pybullet/gym/pybullet_envs/data/plane.mtl new file mode 100644 index 000000000..cd101528d --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/plane.mtl @@ -0,0 +1,15 @@ +newmtl Material + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.0000 0.0000 0.0000 + Kd 0.5880 0.5880 0.5880 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka cube.tga + map_Kd checker_blue.png + + diff --git a/examples/pybullet/gym/pybullet_envs/data/plane.obj b/examples/pybullet/gym/pybullet_envs/data/plane.obj new file mode 100644 index 000000000..606209531 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/plane.obj @@ -0,0 +1,18 @@ +# Blender v2.66 (sub 1) OBJ File: '' +# www.blender.org +mtllib plane.mtl +o Plane +v 15.000000 -15.000000 0.000000 +v 15.000000 15.000000 0.000000 +v -15.000000 15.000000 0.000000 +v -15.000000 -15.000000 0.000000 + +vt 15.000000 0.000000 +vt 15.000000 15.000000 +vt 0.000000 15.000000 +vt 0.000000 0.000000 + +usemtl Material +s off +f 1/1 2/2 3/3 +f 1/1 3/3 4/4 diff --git a/examples/pybullet/gym/pybullet_envs/data/plane.urdf b/examples/pybullet/gym/pybullet_envs/data/plane.urdf new file mode 100644 index 000000000..b04f67e96 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/plane.urdf @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/roboschool/models_outdoor/stadium/part0.obj b/examples/pybullet/gym/pybullet_envs/data/roboschool/models_outdoor/stadium/part0.obj new file mode 100644 index 000000000..0fa502c62 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/roboschool/models_outdoor/stadium/part0.obj @@ -0,0 +1,23154 @@ +# Exported using automatic converter by Erwin Coumans +mtllib stadium.mtl +#object stadium_white + +v -2.000000 1.209896 0.000000 +v -1.796354 1.333333 0.000000 +v -1.920312 1.333333 0.000000 +v -2.000000 1.003646 0.000000 +v -2.144031 0.930462 0.000000 +v -2.000000 -1.003646 0.000000 +v -2.135938 -0.666667 0.000000 +v -2.144031 -0.930462 0.000000 +v -31.333332 15.547396 0.000000 +v -31.534897 15.333333 0.000000 +v -31.333332 15.402604 0.000000 +v -34.266148 2.666667 0.000000 +v -34.367188 2.666667 0.000000 +v -34.347397 2.000000 0.000000 +v -2.052186 0.891429 0.000000 +v -2.135938 0.666667 0.000000 +v 2.211183 0.342470 0.000000 +v 2.240104 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