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")

examples/pybullet/gym/pybullet_envs/__init__.py

@@ -0,0 +1,134 @@
+from gym.envs.registration import registry, register, make, spec
+
+# ------------bullet-------------
+
+register(
+    id='CartPoleBulletEnv-v0',
+    entry_point='pybullet_envs.bullet:CartPoleBulletEnv',
+    timestep_limit=1000,
+    reward_threshold=950.0,
+)
+
+register(
+    id='MinitaurBulletEnv-v0',
+    entry_point='pybullet_envs.bullet:MinitaurBulletEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
+
+register(
+    id='RacecarBulletEnv-v0',
+    entry_point='pybullet_envs.bullet:RacecarBulletEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
+
+register(
+    id='RacecarZedBulletEnv-v0',
+    entry_point='pybullet_envs.bullet:RacecarZEDGymEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
+
+register(
+    id='SimpleHumanoidBulletEnv-v0',
+    entry_point='pybullet_envs.bullet:SimpleHumanoidGymEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
+
+register(
+    id='KukaBulletEnv-v0',
+    entry_point='pybullet_envs.bullet:KukaGymEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
+
+register(
+    id='KukaCamBulletEnv-v0',
+    entry_point='pybullet_envs.bullet:KukaCamGymEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
+
+register(
+	id='InvertedPendulumBulletEnv-v0',
+	entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=950.0,
+	)
+
+register(
+	id='InvertedDoublePendulumBulletEnv-v0',
+	entry_point='pybullet_envs.gym_pendulum_envs:InvertedDoublePendulumBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=9100.0,
+	)
+
+register(
+	id='InvertedPendulumSwingupBulletEnv-v0',
+	entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumSwingupBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=800.0,
+	)
+
+# register(
+# 	id='ReacherBulletEnv-v0',
+# 	entry_point='pybullet_envs.gym_manipulator_envs:ReacherBulletEnv',
+# 	max_episode_steps=150,
+# 	reward_threshold=18.0,
+# 	)
+#
+# register(
+# 	id='PusherBulletEnv-v0',
+# 	entry_point='pybullet_envs.gym_manipulator_envs:PusherBulletEnv',
+# 	max_episode_steps=150,
+# 	reward_threshold=18.0,
+# )
+#
+# register(
+# 	id='ThrowerBulletEnv-v0',
+# 	entry_point='pybullet_envs.gym_manipulator_envs:ThrowerBulletEnv',
+# 	max_episode_steps=100,
+# 	reward_threshold=18.0,
+# )
+#
+# register(
+# 	id='StrikerBulletEnv-v0',
+# 	entry_point='pybullet_envs.gym_manipulator_envs:StrikerBulletEnv',
+# 	max_episode_steps=100,
+# 	reward_threshold=18.0,
+# )
+
+register(
+	id='Walker2DBulletEnv-v0',
+	entry_point='pybullet_envs.gym_locomotion_envs:Walker2DBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=2500.0
+	)
+register(
+	id='HalfCheetahBulletEnv-v0',
+	entry_point='pybullet_envs.gym_locomotion_envs:HalfCheetahBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=3000.0
+	)
+
+register(
+	id='AntBulletEnv-v0',
+	entry_point='pybullet_envs.gym_locomotion_envs:AntBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=2500.0
+	)
+
+register(
+	id='HumanoidBulletEnv-v0',
+	entry_point='pybullet_envs.gym_locomotion_envs:HumanoidBulletEnv',
+	max_episode_steps=1000
+	)
+
+register(
+	id='HopperBulletEnv-v0',
+	entry_point='pybullet_envs.gym_locomotion_envs:HopperBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=2500.0
+	)

examples/pybullet/gym/pybullet_envs/bullet/__init__.py

@@ -0,0 +1,7 @@
+from pybullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv
+from pybullet_envs.bullet.minitaur_bullet import MinitaurBulletEnv
+from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
+from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
+from pybullet_envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv
+from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
+from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv

examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py

@@ -0,0 +1,96 @@
+"""
+Classic cart-pole system implemented by Rich Sutton et al.
+Copied from https://webdocs.cs.ualberta.ca/~sutton/book/code/pole.c
+"""
+import os
+import logging
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import subprocess
+import pybullet as p
+
+
+logger = logging.getLogger(__name__)
+
+class CartPoleBulletEnv(gym.Env):
+  metadata = {
+    'render.modes': ['human', 'rgb_array'],
+    'video.frames_per_second' : 50
+  }
+
+  def __init__(self, renders=True):
+    # start the bullet physics server
+    self._renders = renders
+    if (renders):
+	    p.connect(p.GUI)
+    else:
+    	p.connect(p.DIRECT)
+
+    observation_high = np.array([
+          np.finfo(np.float32).max,
+          np.finfo(np.float32).max,
+          np.finfo(np.float32).max,
+          np.finfo(np.float32).max])
+    action_high = np.array([0.1])
+
+    self.action_space = spaces.Discrete(9)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+
+    self.theta_threshold_radians = 1
+    self.x_threshold = 2.4
+    self._seed()
+#    self.reset()
+    self.viewer = None
+    self._configure()
+
+  def _configure(self, display=None):
+    self.display = display
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def _step(self, action):
+    p.stepSimulation()
+#    time.sleep(self.timeStep)
+    self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
+    theta, theta_dot, x, x_dot = self.state
+    
+    dv = 0.1
+    deltav = [-10.*dv,-5.*dv, -2.*dv, -0.1*dv, 0, 0.1*dv, 2.*dv,5.*dv, 10.*dv][action]
+    
+    p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(deltav + self.state[3]))
+
+    done =  x < -self.x_threshold \
+                or x > self.x_threshold \
+                or theta < -self.theta_threshold_radians \
+                or theta > self.theta_threshold_radians
+    reward = 1.0
+
+    return np.array(self.state), reward, done, {}
+
+  def _reset(self):
+#    print("-----------reset simulation---------------")
+    p.resetSimulation()
+    self.cartpole = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","cartpole.urdf"),[0,0,0])
+    self.timeStep = 0.01
+    p.setJointMotorControl2(self.cartpole, 1, p.VELOCITY_CONTROL, force=0)
+    p.setGravity(0,0, -10)
+    p.setTimeStep(self.timeStep)
+    p.setRealTimeSimulation(0)
+
+    initialCartPos = self.np_random.uniform(low=-0.5, high=0.5, size=(1,))
+    initialAngle = self.np_random.uniform(low=-0.5, high=0.5, size=(1,))
+    p.resetJointState(self.cartpole, 1, initialAngle)
+    p.resetJointState(self.cartpole, 0, initialCartPos)
+
+    self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
+
+    return np.array(self.state)
+
+  def _render(self, mode='human', close=False):
+      return

examples/pybullet/gym/pybullet_envs/bullet/kuka.py

@@ -0,0 +1,162 @@
+import os
+import pybullet as p
+import numpy as np
+import copy
+import math
+
+class Kuka:
+
+  def __init__(self, urdfRootPath='', timeStep=0.01):
+    self.urdfRootPath = urdfRootPath
+    self.timeStep = timeStep
+    
+    self.maxForce = 200.
+    self.fingerAForce = 6
+    self.fingerBForce = 5.5
+    self.fingerTipForce = 6
+    self.useInverseKinematics = 1
+    self.useSimulation = 1
+    self.useNullSpace = 1
+    self.useOrientation = 1
+    self.kukaEndEffectorIndex = 6
+    #lower limits for null space
+    self.ll=[-.967,-2 ,-2.96,0.19,-2.96,-2.09,-3.05]
+    #upper limits for null space
+    self.ul=[.967,2 ,2.96,2.29,2.96,2.09,3.05]
+    #joint ranges for null space
+    self.jr=[5.8,4,5.8,4,5.8,4,6]
+    #restposes for null space
+    self.rp=[0,0,0,0.5*math.pi,0,-math.pi*0.5*0.66,0]
+    #joint damping coefficents
+    self.jd=[0.1,0.1,0.1,0.1,0.1,0.1,0.1]
+    self.reset()
+    
+  def reset(self):
+    objects = p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","kuka_iiwa/kuka_with_gripper2.sdf"))
+    self.kukaUid = objects[0]
+    #for i in range (p.getNumJoints(self.kukaUid)):
+    #  print(p.getJointInfo(self.kukaUid,i))
+    p.resetBasePositionAndOrientation(self.kukaUid,[-0.100000,0.000000,0.070000],[0.000000,0.000000,0.000000,1.000000])
+    self.jointPositions=[ 0.006418, 0.413184, -0.011401, -1.589317, 0.005379, 1.137684, -0.006539, 0.000048, -0.299912, 0.000000, -0.000043, 0.299960, 0.000000, -0.000200 ]
+    self.numJoints = p.getNumJoints(self.kukaUid)
+    for jointIndex in range (self.numJoints):
+      p.resetJointState(self.kukaUid,jointIndex,self.jointPositions[jointIndex])
+      p.setJointMotorControl2(self.kukaUid,jointIndex,p.POSITION_CONTROL,targetPosition=self.jointPositions[jointIndex],force=self.maxForce)
+    
+    self.trayUid = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","tray/tray.urdf"), 0.640000,0.075000,-0.190000,0.000000,0.000000,1.000000,0.000000)
+    self.endEffectorPos = [0.537,0.0,0.5]
+    self.endEffectorAngle = 0
+    
+    
+    self.motorNames = []
+    self.motorIndices = []
+    
+    for i in range (self.numJoints):
+      jointInfo = p.getJointInfo(self.kukaUid,i)
+      qIndex = jointInfo[3]
+      if qIndex > -1:
+        #print("motorname")
+        #print(jointInfo[1])
+        self.motorNames.append(str(jointInfo[1]))
+        self.motorIndices.append(i)
+
+  def getActionDimension(self):
+    if (self.useInverseKinematics):
+      return len(self.motorIndices)
+    return 6 #position x,y,z and roll/pitch/yaw euler angles of end effector
+
+  def getObservationDimension(self):
+    return len(self.getObservation())
+
+  def getObservation(self):
+    observation = []
+    state = p.getLinkState(self.kukaUid,self.kukaEndEffectorIndex)
+    pos = state[0]
+    orn = state[1]
+    euler = p.getEulerFromQuaternion(orn)
+        
+    observation.extend(list(pos))
+    observation.extend(list(euler))
+    
+    return observation
+
+  def applyAction(self, motorCommands):
+    
+    #print ("self.numJoints")
+    #print (self.numJoints)
+    if (self.useInverseKinematics):
+      
+      dx = motorCommands[0]
+      dy = motorCommands[1]
+      dz = motorCommands[2]
+      da = motorCommands[3]
+      fingerAngle = motorCommands[4]
+      
+      state = p.getLinkState(self.kukaUid,self.kukaEndEffectorIndex)
+      actualEndEffectorPos = state[0]
+      #print("pos[2] (getLinkState(kukaEndEffectorIndex)")
+      #print(actualEndEffectorPos[2])
+      
+    
+      
+      self.endEffectorPos[0] = self.endEffectorPos[0]+dx
+      if (self.endEffectorPos[0]>0.75):
+        self.endEffectorPos[0]=0.75
+      if (self.endEffectorPos[0]<0.45):
+        self.endEffectorPos[0]=0.45
+      self.endEffectorPos[1] = self.endEffectorPos[1]+dy
+      if (self.endEffectorPos[1]<-0.22):
+        self.endEffectorPos[1]=-0.22
+      if (self.endEffectorPos[1]>0.22):
+        self.endEffectorPos[1]=0.22
+      
+      #print ("self.endEffectorPos[2]")
+      #print (self.endEffectorPos[2])
+      #print("actualEndEffectorPos[2]")
+      #print(actualEndEffectorPos[2])
+      if (dz>0 or actualEndEffectorPos[2]>0.10):
+        self.endEffectorPos[2] = self.endEffectorPos[2]+dz
+      if (actualEndEffectorPos[2]<0.10):
+        self.endEffectorPos[2] = self.endEffectorPos[2]+0.0001
+    
+     
+      self.endEffectorAngle = self.endEffectorAngle + da
+      pos = self.endEffectorPos
+      orn = p.getQuaternionFromEuler([0,-math.pi,0]) # -math.pi,yaw])
+      if (self.useNullSpace==1):
+        if (self.useOrientation==1):
+          jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,orn,self.ll,self.ul,self.jr,self.rp)
+        else:
+          jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,lowerLimits=self.ll, upperLimits=self.ul, jointRanges=self.jr, restPoses=self.rp)
+      else:
+        if (self.useOrientation==1):
+          jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,orn,jointDamping=self.jd)
+        else:
+          jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos)
+    
+      #print("jointPoses")
+      #print(jointPoses)
+      #print("self.kukaEndEffectorIndex")
+      #print(self.kukaEndEffectorIndex)
+      if (self.useSimulation):
+        for i in range (self.kukaEndEffectorIndex+1):
+          #print(i)
+          p.setJointMotorControl2(bodyIndex=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,positionGain=0.03,velocityGain=1)
+      else:
+        #reset the joint state (ignoring all dynamics, not recommended to use during simulation)
+        for i in range (self.numJoints):
+          p.resetJointState(self.kukaUid,i,jointPoses[i])
+      #fingers
+      p.setJointMotorControl2(self.kukaUid,7,p.POSITION_CONTROL,targetPosition=self.endEffectorAngle,force=self.maxForce)
+      p.setJointMotorControl2(self.kukaUid,8,p.POSITION_CONTROL,targetPosition=-fingerAngle,force=self.fingerAForce)
+      p.setJointMotorControl2(self.kukaUid,11,p.POSITION_CONTROL,targetPosition=fingerAngle,force=self.fingerBForce)
+      
+      p.setJointMotorControl2(self.kukaUid,10,p.POSITION_CONTROL,targetPosition=0,force=self.fingerTipForce)
+      p.setJointMotorControl2(self.kukaUid,13,p.POSITION_CONTROL,targetPosition=0,force=self.fingerTipForce)
+      
+      
+    else:
+      for action in range (len(motorCommands)):
+        motor = self.motorIndices[action]
+        p.setJointMotorControl2(self.kukaUid,motor,p.POSITION_CONTROL,targetPosition=motorCommands[action],force=self.maxForce)
+      

examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py

@@ -0,0 +1,192 @@
+import os
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+from . import kuka
+import random
+
+class KukaCamGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=1,
+               isEnableSelfCollision=True,
+               renders=True):
+    print("init")
+    self._timeStep = 1./240.
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._isEnableSelfCollision = isEnableSelfCollision
+    self._observation = []
+    self._envStepCounter = 0
+    self._renders = renders
+    self._width = 341
+    self._height = 256
+    self.terminated = 0
+    self._p = p
+    if self._renders:
+      p.connect(p.GUI)
+      p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
+    else:
+      p.connect(p.DIRECT)
+    #timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
+    self._seed()
+    self.reset()
+    observationDim = len(self.getExtendedObservation())
+    #print("observationDim")
+    #print(observationDim)
+    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    self.action_space = spaces.Discrete(7)
+    self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4))
+    self.viewer = None
+
+  def _reset(self):
+    print("reset")
+    self.terminated = 0
+    p.resetSimulation()
+    p.setPhysicsEngineParameter(numSolverIterations=150)
+    p.setTimeStep(self._timeStep)
+    p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"),[0,0,-1])
+    
+    p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
+    
+    xpos = 0.5 +0.05*random.random()
+    ypos = 0 +0.05*random.random()
+    ang = 3.1415925438*random.random()
+    orn = p.getQuaternionFromEuler([0,0,ang])
+    self.blockUid =p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
+            
+    p.setGravity(0,0,-10)
+    self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._envStepCounter = 0
+    p.stepSimulation()
+    self._observation = self.getExtendedObservation()
+    return np.array(self._observation)
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def getExtendedObservation(self):
+     
+     #camEyePos = [0.03,0.236,0.54]
+     #distance = 1.06
+     #pitch=-56
+     #yaw = 258
+     #roll=0
+     #upAxisIndex = 2
+     #camInfo = p.getDebugVisualizerCamera()
+     #print("width,height")
+     #print(camInfo[0])
+     #print(camInfo[1])
+     #print("viewMatrix")
+     #print(camInfo[2])
+     #print("projectionMatrix")
+     #print(camInfo[3])
+     #viewMat = camInfo[2]
+     #viewMat = p.computeViewMatrixFromYawPitchRoll(camEyePos,distance,yaw, pitch,roll,upAxisIndex)
+     viewMat = [-0.5120397806167603, 0.7171027660369873, -0.47284144163131714, 0.0, -0.8589617609977722, -0.42747554183006287, 0.28186774253845215, 0.0, 0.0, 0.5504802465438843, 0.8348482847213745, 0.0, 0.1925382763147354, -0.24935829639434814, -0.4401884973049164, 1.0]
+     #projMatrix = camInfo[3]#[0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
+     projMatrix = [0.75, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
+     
+     img_arr = p.getCameraImage(width=self._width,height=self._height,viewMatrix=viewMat,projectionMatrix=projMatrix)
+     rgb=img_arr[2]
+     np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
+     self._observation = np_img_arr
+     return self._observation
+  
+  def _step(self, action):
+    dv = 0.01
+    dx = [0,-dv,dv,0,0,0,0][action]
+    dy = [0,0,0,-dv,dv,0,0][action]
+    da = [0,0,0,0,0,-0.1,0.1][action]
+    f = 0.3
+    realAction = [dx,dy,-0.002,da,f]
+    return self.step2( realAction)
+     
+  def step2(self, action):
+    self._kuka.applyAction(action)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._renders:
+        time.sleep(self._timeStep)
+      self._observation = self.getExtendedObservation()
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    #print("self._envStepCounter")
+    #print(self._envStepCounter)
+    
+    done = self._termination()
+    reward = self._reward()
+    #print("len=%r" % len(self._observation))
+    
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def _termination(self):
+    #print (self._kuka.endEffectorPos[2])
+    state = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
+    actualEndEffectorPos = state[0]
+      
+    #print("self._envStepCounter")
+    #print(self._envStepCounter)
+    if (self.terminated or self._envStepCounter>1000):
+      self._observation = self.getExtendedObservation()
+      return True
+    
+    if (actualEndEffectorPos[2] <= 0.10):
+      self.terminated = 1
+      
+      #print("closing gripper, attempting grasp")
+      #start grasp and terminate
+      fingerAngle = 0.3
+      
+      for i in range (1000):
+        graspAction = [0,0,0.001,0,fingerAngle]
+        self._kuka.applyAction(graspAction)
+        p.stepSimulation()
+        fingerAngle = fingerAngle-(0.3/100.)
+        if (fingerAngle<0):
+          fingerAngle=0
+        
+      self._observation = self.getExtendedObservation()
+      return True
+    return False
+    
+  def _reward(self):
+    
+    #rewards is height of target object
+    blockPos,blockOrn=p.getBasePositionAndOrientation(self.blockUid)
+    closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000) 
+
+    reward = -1000    
+    numPt = len(closestPoints)
+    #print(numPt)
+    if (numPt>0):
+      #print("reward:")
+      reward = -closestPoints[0][8]*10
+
+    if (blockPos[2] >0.2):
+      print("grasped a block!!!")
+      print("self._envStepCounter")
+      print(self._envStepCounter)
+      reward = reward+1000
+
+    #print("reward")
+    #print(reward)
+    return reward

examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py

@@ -0,0 +1,176 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+from . import kuka
+import random
+
+class KukaGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=1,
+               isEnableSelfCollision=True,
+               renders=True):
+    print("init")
+    self._timeStep = 1./240.
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._isEnableSelfCollision = isEnableSelfCollision
+    self._observation = []
+    self._envStepCounter = 0
+    self._renders = renders
+    self.terminated = 0
+    self._p = p
+    if self._renders:
+      p.connect(p.GUI)
+      p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
+    else:
+      p.connect(p.DIRECT)
+    #timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
+    self._seed()
+    self.reset()
+    observationDim = len(self.getExtendedObservation())
+    #print("observationDim")
+    #print(observationDim)
+    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    self.action_space = spaces.Discrete(7)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+    self.viewer = None
+
+  def _reset(self):
+    print("reset")
+    self.terminated = 0
+    p.resetSimulation()
+    p.setPhysicsEngineParameter(numSolverIterations=150)
+    p.setTimeStep(self._timeStep)
+    p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1])
+    
+    p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
+    
+    xpos = 0.5 +0.05*random.random()
+    ypos = 0 +0.05*random.random()
+    ang = 3.1415925438*random.random()
+    orn = p.getQuaternionFromEuler([0,0,ang])
+    self.blockUid =p.loadURDF("block.urdf", xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
+            
+    p.setGravity(0,0,-10)
+    self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._envStepCounter = 0
+    p.stepSimulation()
+    self._observation = self.getExtendedObservation()
+    return np.array(self._observation)
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def getExtendedObservation(self):
+     self._observation = self._kuka.getObservation()
+     eeState  = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
+     endEffectorPos = eeState[0]
+     endEffectorOrn = eeState[1]
+     blockPos,blockOrn = p.getBasePositionAndOrientation(self.blockUid)
+
+     invEEPos,invEEOrn = p.invertTransform(endEffectorPos,endEffectorOrn)
+     blockPosInEE,blockOrnInEE = p.multiplyTransforms(invEEPos,invEEOrn,blockPos,blockOrn)
+     blockEulerInEE = p.getEulerFromQuaternion(blockOrnInEE)
+     self._observation.extend(list(blockPosInEE))
+     self._observation.extend(list(blockEulerInEE))
+
+     return self._observation
+  
+  def _step(self, action):
+    dv = 0.01
+    dx = [0,-dv,dv,0,0,0,0][action]
+    dy = [0,0,0,-dv,dv,0,0][action]
+    da = [0,0,0,0,0,-0.1,0.1][action]
+    f = 0.3
+    realAction = [dx,dy,-0.002,da,f]
+    return self.step2( realAction)
+     
+  def step2(self, action):
+    self._kuka.applyAction(action)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._renders:
+        time.sleep(self._timeStep)
+      self._observation = self.getExtendedObservation()
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    #print("self._envStepCounter")
+    #print(self._envStepCounter)
+    
+    done = self._termination()
+    reward = self._reward()
+    #print("len=%r" % len(self._observation))
+    
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def _termination(self):
+    #print (self._kuka.endEffectorPos[2])
+    state = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
+    actualEndEffectorPos = state[0]
+      
+    #print("self._envStepCounter")
+    #print(self._envStepCounter)
+    if (self.terminated or self._envStepCounter>1000):
+      self._observation = self.getExtendedObservation()
+      return True
+    
+    if (actualEndEffectorPos[2] <= 0.10):
+      self.terminated = 1
+      
+      #print("closing gripper, attempting grasp")
+      #start grasp and terminate
+      fingerAngle = 0.3
+      
+      for i in range (1000):
+        graspAction = [0,0,0.001,0,fingerAngle]
+        self._kuka.applyAction(graspAction)
+        p.stepSimulation()
+        fingerAngle = fingerAngle-(0.3/100.)
+        if (fingerAngle<0):
+          fingerAngle=0
+        
+      self._observation = self.getExtendedObservation()
+      return True
+    return False
+    
+  def _reward(self):
+    
+    #rewards is height of target object
+    blockPos,blockOrn=p.getBasePositionAndOrientation(self.blockUid)
+    closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000) 
+
+    reward = -1000    
+    numPt = len(closestPoints)
+    #print(numPt)
+    if (numPt>0):
+      #print("reward:")
+      reward = -closestPoints[0][8]*10
+
+    if (blockPos[2] >0.2):
+      print("grasped a block!!!")
+      print("self._envStepCounter")
+      print(self._envStepCounter)
+      reward = reward+1000
+
+    #print("reward")
+    #print(reward)
+    return reward

examples/pybullet/gym/pybullet_envs/bullet/minitaur.py

@@ -0,0 +1,142 @@
+import pybullet as p
+import numpy as np
+
+class Minitaur:
+  def __init__(self, urdfRootPath=''):
+    self.urdfRootPath = urdfRootPath
+    self.reset()
+
+  def applyAction(self, motorCommands):
+    motorCommandsWithDir = np.multiply(motorCommands, self.motorDir)
+    for i in range(self.nMotors):
+      self.setMotorAngleById(self.motorIdList[i], motorCommandsWithDir[i])
+
+  def getObservation(self):
+    observation = []
+    observation.extend(self.getMotorAngles().tolist())
+    observation.extend(self.getMotorVelocities().tolist())
+    observation.extend(self.getMotorTorques().tolist())
+    observation.extend(list(self.getBaseOrientation()))
+    observation.extend(list(self.getBasePosition()))
+    return observation
+
+  def getActionDimension(self):
+    return self.nMotors
+
+  def getObservationDimension(self):
+    return len(self.getObservation())
+
+  def buildJointNameToIdDict(self):
+    nJoints = p.getNumJoints(self.quadruped)
+    self.jointNameToId = {}
+    for i in range(nJoints):
+      jointInfo = p.getJointInfo(self.quadruped, i)
+      self.jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
+    self.resetPose()
+    for i in range(100):
+      p.stepSimulation()
+
+  def buildMotorIdList(self):
+    self.motorIdList.append(self.jointNameToId['motor_front_leftR_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_front_leftL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_leftR_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_leftL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_front_rightL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_front_rightR_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_rightL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_rightR_joint'])
+
+
+  def reset(self):
+    self.quadruped = p.loadURDF("%s/quadruped/quadruped.urdf" % self.urdfRootPath,0,0,.3)
+    self.kp = 1
+    self.kd = 0.1
+    self.maxForce = 3.5
+    self.nMotors = 8
+    self.motorIdList = []
+    self.motorDir = [1, -1, 1, -1, -1, 1, -1, 1]
+    self.buildJointNameToIdDict()
+    self.buildMotorIdList()
+
+
+  def disableAllMotors(self):
+    nJoints = p.getNumJoints(self.quadruped)
+    for i in range(nJoints):
+      p.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=i, controlMode=p.VELOCITY_CONTROL, force=0)
+
+  def setMotorAngleById(self, motorId, desiredAngle):
+    p.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=motorId, controlMode=p.POSITION_CONTROL, targetPosition=desiredAngle, positionGain=self.kp, velocityGain=self.kd, force=self.maxForce)
+
+  def setMotorAngleByName(self, motorName, desiredAngle):
+    self.setMotorAngleById(self.jointNameToId[motorName], desiredAngle)
+
+
+  def resetPose(self):
+    #right front leg
+    self.disableAllMotors()
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightR_joint'],1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightR_link'],-2.2)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightL_joint'],-1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightL_link'],2.2)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.quadruped,self.jointNameToId['knee_front_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
+    self.setMotorAngleByName('motor_front_rightR_joint', 1.57)
+    self.setMotorAngleByName('motor_front_rightL_joint',-1.57)
+
+    #left front leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftR_joint'],1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftR_link'],-2.2)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftL_joint'],-1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftL_link'],2.2)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.quadruped,self.jointNameToId['knee_front_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
+    self.setMotorAngleByName('motor_front_leftR_joint', 1.57)
+    self.setMotorAngleByName('motor_front_leftL_joint',-1.57)
+
+    #right back leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightR_joint'],1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightR_link'],-2.2)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightL_joint'],-1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightL_link'],2.2)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.quadruped,self.jointNameToId['knee_back_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
+    self.setMotorAngleByName('motor_back_rightR_joint', 1.57)
+    self.setMotorAngleByName('motor_back_rightL_joint',-1.57)
+
+    #left back leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftR_joint'],1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftR_link'],-2.2)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftL_joint'],-1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftL_link'],2.2)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.quadruped,self.jointNameToId['knee_back_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
+    self.setMotorAngleByName('motor_back_leftR_joint', 1.57)
+    self.setMotorAngleByName('motor_back_leftL_joint',-1.57)
+
+  def getBasePosition(self):
+    position, orientation = p.getBasePositionAndOrientation(self.quadruped)
+    return position
+
+  def getBaseOrientation(self):
+    position, orientation = p.getBasePositionAndOrientation(self.quadruped)
+    return orientation
+
+  def getMotorAngles(self):
+    motorAngles = []
+    for i in range(self.nMotors):
+      jointState = p.getJointState(self.quadruped, self.motorIdList[i])
+      motorAngles.append(jointState[0])
+    motorAngles = np.multiply(motorAngles, self.motorDir)
+    return motorAngles
+
+  def getMotorVelocities(self):
+    motorVelocities = []
+    for i in range(self.nMotors):
+      jointState = p.getJointState(self.quadruped, self.motorIdList[i])
+      motorVelocities.append(jointState[1])
+    motorVelocities = np.multiply(motorVelocities, self.motorDir)
+    return motorVelocities
+
+  def getMotorTorques(self):
+    motorTorques = []
+    for i in range(self.nMotors):
+      jointState = p.getJointState(self.quadruped, self.motorIdList[i])
+      motorTorques.append(jointState[3])
+    motorTorques = np.multiply(motorTorques, self.motorDir)
+    return motorTorques

examples/pybullet/gym/pybullet_envs/bullet/minitaurGymEnv.py

@@ -0,0 +1,113 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+import minitaur_new
+
+class MinitaurGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=1,
+               isEnableSelfCollision=True,
+               motorVelocityLimit=10.0,
+               render=False):
+    self._timeStep = 0.01
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._motorVelocityLimit = motorVelocityLimit
+    self._isEnableSelfCollision = isEnableSelfCollision
+    self._observation = []
+    self._envStepCounter = 0
+    self._render = render
+    self._lastBasePosition = [0, 0, 0]
+    if self._render:
+      p.connect(p.GUI)
+    else:
+      p.connect(p.DIRECT)
+    self._seed()
+    self.reset()
+    observationDim = self._minitaur.getObservationDimension()
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)
+    actionDim = 8
+    action_high = np.array([1] * actionDim)
+    self.action_space = spaces.Box(-action_high, action_high)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+    self.viewer = None
+
+  def _reset(self):
+    p.resetSimulation()
+    p.setPhysicsEngineParameter(numSolverIterations=300)
+    p.setTimeStep(self._timeStep)
+    p.loadURDF("%splane.urdf" % self._urdfRoot)
+    p.setGravity(0,0,-10)
+    self._minitaur = minitaur_new.Minitaur(urdfRootPath=self._urdfRoot, timeStep=self._timeStep, isEnableSelfCollision=self._isEnableSelfCollision, motorVelocityLimit=self._motorVelocityLimit)
+    self._envStepCounter = 0
+    self._lastBasePosition = [0, 0, 0]
+    for i in range(100):
+      p.stepSimulation()
+    self._observation = self._minitaur.getObservation()
+    return self._observation
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def _step(self, action):
+    if (self._render):
+      basePos = self._minitaur.getBasePosition()
+      p.resetDebugVisualizerCamera(1, 30, 40, basePos)
+
+    if len(action) != self._minitaur.getActionDimension():
+      raise ValueError("We expect {} continuous action not {}.".format(self._minitaur.getActionDimension(), len(action)))
+
+    for i in range(len(action)):
+      if not -1.01 <= action[i] <= 1.01:
+        raise ValueError("{}th action should be between -1 and 1 not {}.".format(i, action[i]))
+
+    realAction = self._minitaur.convertFromLegModel(action)
+    self._minitaur.applyAction(realAction)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._render:
+        time.sleep(self._timeStep)
+      self._observation = self._minitaur.getObservation()
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    reward = self._reward()
+    done = self._termination()
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def is_fallen(self):
+    orientation = self._minitaur.getBaseOrientation()
+    rotMat = p.getMatrixFromQuaternion(orientation)
+    localUp = rotMat[6:]
+    return np.dot(np.asarray([0, 0, 1]), np.asarray(localUp)) < 0 or self._observation[-1] < 0.1
+
+  def _termination(self):
+    return self.is_fallen()
+
+  def _reward(self):
+    currentBasePosition = self._minitaur.getBasePosition()
+    forward_reward = currentBasePosition[0] - self._lastBasePosition[0]
+    self._lastBasePosition = currentBasePosition
+
+    energyWeight = 0.001
+    energy = np.abs(np.dot(self._minitaur.getMotorTorques(), self._minitaur.getMotorVelocities())) * self._timeStep
+    energy_reward = energyWeight * energy
+    reward = forward_reward - energy_reward
+    return reward

examples/pybullet/gym/pybullet_envs/bullet/minitaur_bullet.py

@@ -0,0 +1,90 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+
+import pybullet as p
+from pybullet_envs.bullet.minitaur import Minitaur
+
+class MinitaurBulletEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self):
+    self._timeStep = 0.01
+    self._observation = []
+    self._envStepCounter = 0
+    self._lastBasePosition = [0, 0, 0]
+
+    p.connect(p.GUI)
+
+    p.resetSimulation()
+    p.setTimeStep(self._timeStep)
+    p.loadURDF("plane.urdf")
+    p.setGravity(0,0,-10)
+    self._minitaur = Minitaur()
+
+    observationDim = self._minitaur.getObservationDimension()
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)
+    actionDim = 8
+    action_high = np.array([math.pi / 2.0] * actionDim)
+    self.action_space = spaces.Box(-action_high, action_high)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+
+    self._seed()
+    self.reset()
+    self.viewer = None
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def _step(self, action):
+    if len(action) != self._minitaur.getActionDimension():
+      raise ValueError("We expect {} continuous action not {}.".format(self._minitaur.getActionDimension(), len(actions.continuous_actions)))
+
+    for i in range(len(action)):
+      if not -math.pi/2 <= action[i] <= math.pi/2:
+        raise ValueError("{}th action should be between -1 and 1 not {}.".format(i, action[i]))
+      action[i] += math.pi / 2
+
+    self._minitaur.applyAction(action)
+    p.stepSimulation()
+    self._observation = self._minitaur.getObservation()
+    self._envStepCounter += 1
+    reward = self._reward()
+    done = self._termination()
+    return np.array(self._observation), reward, done, {}
+
+  def _reset(self):
+    p.resetSimulation()
+    p.setTimeStep(self._timeStep)
+    p.loadURDF("plane.urdf")
+    p.setGravity(0,0,-10)
+    self._minitaur = Minitaur()
+    self._observation = self._minitaur.getObservation()
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def is_fallen(self):
+    orientation = self._minitaur.getBaseOrientation()
+    rotMat = p.getMatrixFromQuaternion(orientation)
+    localUp = rotMat[6:]
+    return np.dot(np.asarray([0, 0, 1]), np.asarray(localUp)) < 0
+
+  def _termination(self):
+    return self.is_fallen()
+
+  def _reward(self):
+    currentBasePosition = self._minitaur.getBasePosition()
+    reward = np.dot(np.asarray([-1, 0, 0]), np.asarray(currentBasePosition) - np.asarray(self._lastBasePosition))
+    self._lastBasePosition = currentBasePosition
+    return reward

examples/pybullet/gym/pybullet_envs/bullet/minitaur_new.py

@@ -0,0 +1,176 @@
+import pybullet as p
+import numpy as np
+import copy
+import math
+
+class Minitaur:
+
+  def __init__(self, urdfRootPath='', timeStep=0.01, isEnableSelfCollision=True, motorVelocityLimit=10.0):
+    self.urdfRootPath = urdfRootPath
+    self.isEnableSelfCollision = isEnableSelfCollision
+    self.motorVelocityLimit = motorVelocityLimit
+    self.timeStep = timeStep
+    self.reset()
+
+  def buildJointNameToIdDict(self):
+    nJoints = p.getNumJoints(self.quadruped)
+    self.jointNameToId = {}
+    for i in range(nJoints):
+      jointInfo = p.getJointInfo(self.quadruped, i)
+      self.jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
+    self.resetPose()
+
+  def buildMotorIdList(self):
+    self.motorIdList.append(self.jointNameToId['motor_front_leftL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_front_leftR_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_leftL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_leftR_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_front_rightL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_front_rightR_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_rightL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_rightR_joint'])
+
+  def reset(self):
+    if self.isEnableSelfCollision:
+      self.quadruped = p.loadURDF("%s/quadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2], flags=p.URDF_USE_SELF_COLLISION)
+    else:
+      self.quadruped = p.loadURDF("%s/quadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2])
+    self.kp = 1
+    self.kd = 1
+    self.maxForce = 3.5
+    self.nMotors = 8
+    self.motorIdList = []
+    self.motorDir = [-1, -1, -1, -1, 1, 1, 1, 1]
+    self.buildJointNameToIdDict()
+    self.buildMotorIdList()
+
+
+  def setMotorAngleById(self, motorId, desiredAngle):
+    p.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=motorId, controlMode=p.POSITION_CONTROL, targetPosition=desiredAngle, positionGain=self.kp, velocityGain=self.kd, force=self.maxForce)
+
+  def setMotorAngleByName(self, motorName, desiredAngle):
+    self.setMotorAngleById(self.jointNameToId[motorName], desiredAngle)
+
+  def resetPose(self):
+    kneeFrictionForce = 0
+    halfpi = 1.57079632679
+    kneeangle = -2.1834 #halfpi - acos(upper_leg_length / lower_leg_length)
+
+    #left front leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftL_joint'],self.motorDir[0]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftL_link'],self.motorDir[0]*kneeangle)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftR_joint'],self.motorDir[1]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.motorDir[1]*kneeangle)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.quadruped,self.jointNameToId['knee_front_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
+    self.setMotorAngleByName('motor_front_leftL_joint', self.motorDir[0]*halfpi)
+    self.setMotorAngleByName('motor_front_leftR_joint', self.motorDir[1]*halfpi)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_leftL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_leftR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+
+    #left back leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftL_joint'],self.motorDir[2]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftL_link'],self.motorDir[2]*kneeangle)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftR_joint'],self.motorDir[3]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.motorDir[3]*kneeangle)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.quadruped,self.jointNameToId['knee_back_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
+    self.setMotorAngleByName('motor_back_leftL_joint',self.motorDir[2]*halfpi)
+    self.setMotorAngleByName('motor_back_leftR_joint',self.motorDir[3]*halfpi)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_leftL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_leftR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+ 
+    #right front leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightL_joint'],self.motorDir[4]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightL_link'],self.motorDir[4]*kneeangle)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightR_joint'],self.motorDir[5]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.motorDir[5]*kneeangle)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.quadruped,self.jointNameToId['knee_front_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
+    self.setMotorAngleByName('motor_front_rightL_joint',self.motorDir[4]*halfpi)
+    self.setMotorAngleByName('motor_front_rightR_joint',self.motorDir[5]*halfpi)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_rightL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_rightR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+ 
+
+    #right back leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightL_joint'],self.motorDir[6]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightL_link'],self.motorDir[6]*kneeangle)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightR_joint'],self.motorDir[7]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.motorDir[7]*kneeangle)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.quadruped,self.jointNameToId['knee_back_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
+    self.setMotorAngleByName('motor_back_rightL_joint',self.motorDir[6]*halfpi)
+    self.setMotorAngleByName('motor_back_rightR_joint',self.motorDir[7]*halfpi)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_rightL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_rightR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+
+
+  def getBasePosition(self):
+    position, orientation = p.getBasePositionAndOrientation(self.quadruped)
+    return position
+
+  def getBaseOrientation(self):
+    position, orientation = p.getBasePositionAndOrientation(self.quadruped)
+    return orientation
+
+  def getActionDimension(self):
+    return self.nMotors
+
+  def getObservationDimension(self):
+    return len(self.getObservation())
+
+  def getObservation(self):
+    observation = []
+    observation.extend(self.getMotorAngles().tolist())
+    observation.extend(self.getMotorVelocities().tolist())
+    observation.extend(self.getMotorTorques().tolist())
+    observation.extend(list(self.getBaseOrientation()))
+    return observation
+
+
+  def applyAction(self, motorCommands):
+    if self.motorVelocityLimit < np.inf:
+      currentMotorAngle = self.getMotorAngles()
+      motorCommandsMax = currentMotorAngle + self.timeStep * self.motorVelocityLimit
+      motorCommandsMin = currentMotorAngle - self.timeStep * self.motorVelocityLimit
+      motorCommands = np.clip(motorCommands, motorCommandsMin, motorCommandsMax)
+    motorCommandsWithDir = np.multiply(motorCommands, self.motorDir)
+#    print('action: {}'.format(motorCommands))
+#    print('motor: {}'.format(motorCommandsWithDir))
+    for i in range(self.nMotors):
+      self.setMotorAngleById(self.motorIdList[i], motorCommandsWithDir[i])
+
+  def getMotorAngles(self):
+    motorAngles = []
+    for i in range(self.nMotors):
+      jointState = p.getJointState(self.quadruped, self.motorIdList[i])
+      motorAngles.append(jointState[0])
+    motorAngles = np.multiply(motorAngles, self.motorDir)
+    return motorAngles
+
+  def getMotorVelocities(self):
+    motorVelocities = []
+    for i in range(self.nMotors):
+      jointState = p.getJointState(self.quadruped, self.motorIdList[i])
+      motorVelocities.append(jointState[1])
+    motorVelocities = np.multiply(motorVelocities, self.motorDir)
+    return motorVelocities
+
+  def getMotorTorques(self):
+    motorTorques = []
+    for i in range(self.nMotors):
+      jointState = p.getJointState(self.quadruped, self.motorIdList[i])
+      motorTorques.append(jointState[3])
+    motorTorques = np.multiply(motorTorques, self.motorDir)
+    return motorTorques
+
+  def convertFromLegModel(self, actions):
+    motorAngle = copy.deepcopy(actions)
+    scaleForSingularity = 1
+    offsetForSingularity = 0.5
+    motorAngle[0] = math.pi + math.pi / 4 * actions[0] - scaleForSingularity * math.pi / 4 * (actions[4] + 1 + offsetForSingularity)
+    motorAngle[1] = math.pi - math.pi / 4 * actions[0] - scaleForSingularity * math.pi / 4 * (actions[4] + 1 + offsetForSingularity)
+    motorAngle[2] = math.pi + math.pi / 4 * actions[1] - scaleForSingularity * math.pi / 4 * (actions[5] + 1 + offsetForSingularity)
+    motorAngle[3] = math.pi - math.pi / 4 * actions[1] - scaleForSingularity * math.pi / 4 * (actions[5] + 1 + offsetForSingularity)
+    motorAngle[4] = math.pi - math.pi / 4 * actions[2] - scaleForSingularity * math.pi / 4 * (actions[6] + 1 + offsetForSingularity)
+    motorAngle[5] = math.pi + math.pi / 4 * actions[2] - scaleForSingularity * math.pi / 4 * (actions[6] + 1 + offsetForSingularity)
+    motorAngle[6] = math.pi - math.pi / 4 * actions[3] - scaleForSingularity * math.pi / 4 * (actions[7] + 1 + offsetForSingularity)
+    motorAngle[7] = math.pi + math.pi / 4 * actions[3] - scaleForSingularity * math.pi / 4 * (actions[7] + 1 + offsetForSingularity)
+    return motorAngle

examples/pybullet/gym/pybullet_envs/bullet/racecar.py

@@ -0,0 +1,57 @@
+import pybullet as p
+import numpy as np
+import copy
+import math
+
+class Racecar:
+
+  def __init__(self, urdfRootPath='', timeStep=0.01):
+    self.urdfRootPath = urdfRootPath
+    self.timeStep = timeStep
+    self.reset()
+
+  def reset(self):
+    self.racecarUniqueId = p.loadURDF("racecar/racecar.urdf", [0,0,.2])
+    self.maxForce = 20
+    self.nMotors = 2
+    self.motorizedwheels=[2]
+    self.inactiveWheels = [3,5,7]
+    for wheel in self.inactiveWheels:
+      p.setJointMotorControl2(self.racecarUniqueId,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
+
+    self.motorizedWheels = [2]
+    self.steeringLinks=[4,6]
+    self.speedMultiplier = 4.
+    
+
+  def getActionDimension(self):
+    return self.nMotors
+
+  def getObservationDimension(self):
+    return len(self.getObservation())
+
+  def getObservation(self):
+    observation = []
+    pos,orn=p.getBasePositionAndOrientation(self.racecarUniqueId)
+    
+    observation.extend(list(pos))
+    observation.extend(list(orn))
+    
+    return observation
+
+  def applyAction(self, motorCommands):
+    targetVelocity=motorCommands[0]*self.speedMultiplier
+    #print("targetVelocity")
+    #print(targetVelocity)
+    steeringAngle = motorCommands[1]
+    #print("steeringAngle")
+    #print(steeringAngle)
+    #print("maxForce")
+    #print(self.maxForce)
+    
+    
+    for motor in self.motorizedwheels:
+      p.setJointMotorControl2(self.racecarUniqueId,motor,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=self.maxForce)    
+    for steer in self.steeringLinks:
+      p.setJointMotorControl2(self.racecarUniqueId,steer,p.POSITION_CONTROL,targetPosition=steeringAngle)
+  

examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py

@@ -0,0 +1,134 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+from . import racecar
+import random
+
+class RacecarGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=50,
+               isEnableSelfCollision=True,
+               renders=True):
+    print("init")
+    self._timeStep = 0.01
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._isEnableSelfCollision = isEnableSelfCollision
+    self._observation = []
+    self._ballUniqueId = -1
+    self._envStepCounter = 0
+    self._renders = renders
+    self._p = p
+    if self._renders:
+      p.connect(p.GUI)
+    else:
+      p.connect(p.DIRECT)
+    self._seed()
+    self.reset()
+    observationDim = len(self.getExtendedObservation())
+    #print("observationDim")
+    #print(observationDim)
+    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    self.action_space = spaces.Discrete(9)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+    self.viewer = None
+
+  def _reset(self):
+    p.resetSimulation()
+    #p.setPhysicsEngineParameter(numSolverIterations=300)
+    p.setTimeStep(self._timeStep)
+    #p.loadURDF("%splane.urdf" % self._urdfRoot)
+    stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot)
+    #move the stadium objects slightly above 0
+    for i in stadiumobjects:
+    	pos,orn = p.getBasePositionAndOrientation(i)
+    	newpos = [pos[0],pos[1],pos[2]+0.1]
+    	p.resetBasePositionAndOrientation(i,newpos,orn)
+    
+    dist = 5 +2.*random.random()
+    ang = 2.*3.1415925438*random.random()
+    
+    ballx = dist * math.sin(ang)
+    bally = dist * math.cos(ang)
+    ballz = 1
+    
+    self._ballUniqueId = p.loadURDF("sphere2.urdf",[ballx,bally,ballz])
+    p.setGravity(0,0,-10)
+    self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._envStepCounter = 0
+    for i in range(100):
+      p.stepSimulation()
+    self._observation = self.getExtendedObservation()
+    return np.array(self._observation)
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def getExtendedObservation(self):
+     self._observation = [] #self._racecar.getObservation()
+     carpos,carorn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
+     ballpos,ballorn = p.getBasePositionAndOrientation(self._ballUniqueId)      
+     invCarPos,invCarOrn = p.invertTransform(carpos,carorn)
+     ballPosInCar,ballOrnInCar = p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
+    
+     self._observation.extend([ballPosInCar[0],ballPosInCar[1]])
+     return self._observation
+     
+  def _step(self, action):
+    if (self._renders):
+      basePos,orn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
+      #p.resetDebugVisualizerCamera(1, 30, -40, basePos)
+    
+    fwd = [-5,-5,-5,0,0,0,5,5,5]
+    steerings = [-0.3,0,0.3,-0.3,0,0.3,-0.3,0,0.3]
+    forward = fwd[action]
+    steer = steerings[action]
+    realaction = [forward,steer]
+    self._racecar.applyAction(realaction)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._renders:
+        time.sleep(self._timeStep)
+      self._observation = self.getExtendedObservation()
+      
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    reward = self._reward()
+    done = self._termination()
+    #print("len=%r" % len(self._observation))
+    
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def _termination(self):
+    return self._envStepCounter>1000
+    
+  def _reward(self):
+    closestPoints = p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000) 
+    
+    numPt = len(closestPoints)
+    reward=-1000
+    #print(numPt)
+    if (numPt>0):
+      #print("reward:")
+      reward = -closestPoints[0][8]
+      #print(reward)
+    return reward

examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py

@@ -0,0 +1,148 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+from . import racecar
+import random
+
+class RacecarZEDGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=100,
+               isEnableSelfCollision=True,
+               renders=True):
+    print("init")
+    self._timeStep = 0.01
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._isEnableSelfCollision = isEnableSelfCollision
+    self._ballUniqueId = -1
+    self._envStepCounter = 0
+    self._renders = renders
+    self._width = 100
+    self._height = 10
+    self._p = p
+    if self._renders:
+      p.connect(p.GUI)
+    else:
+      p.connect(p.DIRECT)
+    self._seed()
+    self.reset()
+    observationDim = len(self.getExtendedObservation())
+    #print("observationDim")
+    #print(observationDim)
+    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    self.action_space = spaces.Discrete(6)
+    self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4))
+
+    self.viewer = None
+
+  def _reset(self):
+    p.resetSimulation()
+    #p.setPhysicsEngineParameter(numSolverIterations=300)
+    p.setTimeStep(self._timeStep)
+    #p.loadURDF("%splane.urdf" % self._urdfRoot)
+    stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot)
+    #move the stadium objects slightly above 0
+    for i in stadiumobjects:
+      pos,orn = p.getBasePositionAndOrientation(i)
+      newpos = [pos[0],pos[1],pos[2]+0.1]
+      p.resetBasePositionAndOrientation(i,newpos,orn)
+    
+    dist = 5 +2.*random.random()
+    ang = 2.*3.1415925438*random.random()
+    
+    ballx = dist * math.sin(ang)
+    bally = dist * math.cos(ang)
+    ballz = 1
+    
+    self._ballUniqueId = p.loadURDF("sphere2red.urdf",[ballx,bally,ballz])
+    p.setGravity(0,0,-10)
+    self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._envStepCounter = 0
+    for i in range(100):
+      p.stepSimulation()
+    self._observation = self.getExtendedObservation()
+    return np.array(self._observation)
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def getExtendedObservation(self):
+     carpos,carorn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
+     carmat = p.getMatrixFromQuaternion(carorn)
+     ballpos,ballorn = p.getBasePositionAndOrientation(self._ballUniqueId)      
+     invCarPos,invCarOrn = p.invertTransform(carpos,carorn)
+     ballPosInCar,ballOrnInCar = p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
+     dist0 = 0.3
+     dist1 = 1.
+     eyePos = [carpos[0]+dist0*carmat[0],carpos[1]+dist0*carmat[3],carpos[2]+dist0*carmat[6]+0.3]
+     targetPos = [carpos[0]+dist1*carmat[0],carpos[1]+dist1*carmat[3],carpos[2]+dist1*carmat[6]+0.3]      
+     up = [carmat[2],carmat[5],carmat[8]]
+     viewMat = p.computeViewMatrix(eyePos,targetPos,up)
+     #viewMat = p.computeViewMatrixFromYawPitchRoll(carpos,1,0,0,0,2)
+     #print("projectionMatrix:")
+     #print(p.getDebugVisualizerCamera()[3])
+     projMatrix = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
+     img_arr = p.getCameraImage(width=self._width,height=self._height,viewMatrix=viewMat,projectionMatrix=projMatrix)
+     rgb=img_arr[2]
+     np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
+     self._observation = np_img_arr
+     return self._observation
+     
+  def _step(self, action):
+    if (self._renders):
+      basePos,orn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
+      #p.resetDebugVisualizerCamera(1, 30, -40, basePos)
+    
+    fwd = [5,0,5,10,10,10]
+    steerings = [-0.5,0,0.5,-0.3,0,0.3]
+    forward = fwd[action]
+    steer = steerings[action]
+    realaction = [forward,steer]
+    self._racecar.applyAction(realaction)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._renders:
+        time.sleep(self._timeStep)
+      self._observation = self.getExtendedObservation()
+      
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    reward = self._reward()
+    done = self._termination()
+    #print("len=%r" % len(self._observation))
+    
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def _termination(self):
+    return self._envStepCounter>1000
+    
+  def _reward(self):
+    closestPoints = p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000) 
+    
+    numPt = len(closestPoints)
+    reward=-1000
+    #print(numPt)
+    if (numPt>0):
+      #print("reward:")
+      reward = -closestPoints[0][8]
+      #print(reward)
+    return reward

examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoid.py

@@ -0,0 +1,124 @@
+import pybullet as p
+import numpy as np
+import copy
+import math
+import time
+
+
+
+class SimpleHumanoid:
+
+  def __init__(self, urdfRootPath='', timeStep=0.01):
+    self.urdfRootPath = urdfRootPath
+    self.timeStep = timeStep
+    self.reset()
+    
+    
+
+  def reset(self):
+    self.initial_z = None
+   
+    objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
+    self.human = objs[0]
+    self.jdict = {}
+    self.ordered_joints = []
+    self.ordered_joint_indices = []
+
+    for j in range( p.getNumJoints(self.human) ):
+      info = p.getJointInfo(self.human, j)
+      link_name = info[12].decode("ascii")
+      if link_name=="left_foot": self.left_foot = j
+      if link_name=="right_foot": self.right_foot = j
+      self.ordered_joint_indices.append(j)
+      if info[2] != p.JOINT_REVOLUTE: continue
+      jname = info[1].decode("ascii")
+      self.jdict[jname] = j
+      lower, upper = (info[8], info[9])
+      self.ordered_joints.append( (j, lower, upper) )
+      p.setJointMotorControl2(self.human, j, controlMode=p.VELOCITY_CONTROL, force=0)
+
+    self.motor_names  = ["abdomen_z", "abdomen_y", "abdomen_x"]
+    self.motor_power  = [100, 100, 100]
+    self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
+    self.motor_power += [100, 100, 300, 200]
+    self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
+    self.motor_power += [100, 100, 300, 200]
+    self.motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
+    self.motor_power += [75, 75, 75]
+    self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
+    self.motor_power += [75, 75, 75]
+    self.motors = [self.jdict[n] for n in self.motor_names]
+    print("self.motors")
+    print(self.motors)
+    print("num motors")
+    print(len(self.motors))
+
+
+
+  def current_relative_position(self, 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(self, human):
+    #print("ordered_joint_indices")
+    #print(ordered_joint_indices)
+    
+    
+    jointStates = p.getJointStates(human,self.ordered_joint_indices)
+    j = np.array([self.current_relative_position(jointStates, human, *jtuple) for jtuple in self.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]
+    self.distance = body_xyz[0]
+    if self.initial_z==None:
+      self.initial_z = z
+    (vx, vy, vz), _ = p.getBaseVelocity(human)
+    more = np.array([z-self.initial_z, 0.1*vx, 0.1*vy, 0.1*vz, qx, qy, qz, qw])
+    rcont = p.getContactPoints(human, -1, self.right_foot, -1)
+    #print("rcont")
+    #print(rcont)
+    lcont = p.getContactPoints(human, -1, self.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)
+
+  def getActionDimension(self):
+    return len(self.motors)
+
+  def getObservationDimension(self):
+    return len(self.getObservation())
+
+  def getObservation(self):
+    observation = self.collect_observations(self.human)
+    return observation
+
+  def applyAction(self, actions):
+    forces = [0.] * len(self.motors)
+    for m in range(len(self.motors)):
+      forces[m] = self.motor_power[m]*actions[m]*0.082
+    p.setJointMotorControlArray(self.human, self.motors,controlMode=p.TORQUE_CONTROL, forces=forces)
+
+    p.stepSimulation()
+    time.sleep(0.01)
+    distance=5
+    yaw = 0
+    #humanPos, humanOrn = p.getBasePositionAndOrientation(self.human)
+    #p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);

examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoidGymEnv.py

@@ -0,0 +1,102 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+from . import simpleHumanoid
+import random
+
+class SimpleHumanoidGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=50,
+               isEnableSelfCollision=True,
+               renders=True):
+    print("init")
+    self._timeStep = 0.01
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._isEnableSelfCollision = isEnableSelfCollision
+    self._observation = []
+    self._envStepCounter = 0
+    self._renders = renders
+    self._p = p
+    if self._renders:
+      p.connect(p.GUI)
+    else:
+      p.connect(p.DIRECT)
+    self._seed()
+    self.reset()
+    observationDim = len(self.getExtendedObservation())
+    #print("observationDim")
+    #print(observationDim)
+    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    self.action_space = spaces.Discrete(9)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+    self.viewer = None
+
+  def _reset(self):
+    p.resetSimulation()
+    #p.setPhysicsEngineParameter(numSolverIterations=300)
+    p.setTimeStep(self._timeStep)
+    p.loadURDF("%splane.urdf" % self._urdfRoot)
+    
+    dist = 5 +2.*random.random()
+    ang = 2.*3.1415925438*random.random()
+    
+    ballx = dist * math.sin(ang)
+    bally = dist * math.cos(ang)
+    ballz = 1
+        
+    p.setGravity(0,0,-10)
+    self._humanoid = simpleHumanoid.SimpleHumanoid(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._envStepCounter = 0
+    p.stepSimulation()
+    self._observation = self.getExtendedObservation()
+    return np.array(self._observation)
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def getExtendedObservation(self):
+     self._observation = self._humanoid.getObservation()
+     return self._observation
+     
+  def _step(self, action):
+    self._humanoid.applyAction(action)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._renders:
+        time.sleep(self._timeStep)
+      self._observation = self.getExtendedObservation()
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    reward = self._reward()
+    done = self._termination()
+    #print("len=%r" % len(self._observation))
+    
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def _termination(self):
+    return self._envStepCounter>1000
+    
+  def _reward(self):
+    reward=self._humanoid.distance
+    print(reward)
+    return reward

examples/pybullet/gym/pybullet_envs/data/block.urdf

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot name="block_2">
+  <link name="block_2_base_link">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <spinning_friction value=".001"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.02"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <box size="0.10 0.018 0.018"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.1 0.7 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <box size="0.10 0.018 0.018"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

examples/pybullet/gym/pybullet_envs/data/cartpole.urdf

@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<robot name="physics">
+
+    <link name="slideBar">
+    <visual>
+      <geometry>
+        <box size="30 0.05 0.05"/>
+      </geometry>
+      <origin xyz="0 0 0"/>
+      <material name="green">
+        <color rgba="0 0.8 .8 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <link name="cart">
+    <visual>
+      <geometry>
+        <box size="0.5 0.5 0.2"/>
+      </geometry>
+      <origin xyz="0 0 0"/>
+      <material name="blue">
+        <color rgba="0 0 .8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+          <box size="0.5 0.5 0.2"/>
+      </geometry>
+      <origin xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="slider_to_cart" type="prismatic">
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.0 0.0 0.0"/>
+    <parent link="slideBar"/>
+    <child link="cart"/>
+    <limit effort="1000.0" lower="-15" upper="15" velocity="5"/>
+  </joint>
+
+  <link name="pole">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <inertial>
+    <origin xyz="0 0 0.5"/>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="cart_to_pole" type="continuous">
+    <axis xyz="0 1 0"/>
+    <origin xyz="0.0 0.0 0"/>
+    <parent link="cart"/>
+    <child link="pole"/>
+  </joint>
+  
+</robot>

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/kuka_with_gripper.sdf

@@ -0,0 +1,802 @@
+<?xml version="1.0" ?>
+<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
+    It has been produced from the varients in //third_party/robotics/models.
+    Note:  This file is temporary, and should be deleted once Bullet supports
+    importing models in SDF.  Also, this file has been specialized for Bullet,
+    because the mass of the base link has been set to 0, as needed by Bullet.
+    Note:  All of the gripper link poses have been adjusted in the z direction
+    to achieve a reasonable position of the gripper relative to the arm.
+    Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
+<sdf version='1.6'>
+  <world name='default'>
+  <model name='lbr_iiwa_with_wsg50'>
+    <link name='lbr_iiwa_link_0'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <mass>0</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.06</iyy>
+          <iyz>0</iyz>
+          <izz>0.03</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_0_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>/meshes/link_0.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_0_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_0.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+          <specular>0.4 0.4 0.4 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <link name='lbr_iiwa_link_1'>
+      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.09</iyy>
+          <iyz>0</iyz>
+          <izz>0.02</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_1_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_1_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J0' type='revolute'>
+      <child>lbr_iiwa_link_1</child>
+      <parent>lbr_iiwa_link_0</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_2'>
+      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.044</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_2_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_2_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J1' type='revolute'>
+      <child>lbr_iiwa_link_2</child>
+      <parent>lbr_iiwa_link_1</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_3'>
+      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <mass>3</mass>
+        <inertia>
+          <ixx>0.08</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.075</iyy>
+          <iyz>0</iyz>
+          <izz>0.01</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_3_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_3_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J2' type='revolute'>
+      <child>lbr_iiwa_link_3</child>
+      <parent>lbr_iiwa_link_2</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_4'>
+      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <mass>2.7</mass>
+        <inertia>
+          <ixx>0.03</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.01</iyy>
+          <iyz>0</iyz>
+          <izz>0.029</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_4_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_4_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J3' type='revolute'>
+      <child>lbr_iiwa_link_4</child>
+      <parent>lbr_iiwa_link_3</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_5'>
+      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <mass>1.7</mass>
+        <inertia>
+          <ixx>0.02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.005</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_5_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_5_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J4' type='revolute'>
+      <child>lbr_iiwa_link_5</child>
+      <parent>lbr_iiwa_link_4</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_6'>
+      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <mass>1.8</mass>
+        <inertia>
+          <ixx>0.005</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0036</iyy>
+          <iyz>0</iyz>
+          <izz>0.0047</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_6_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_6_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J5' type='revolute'>
+      <child>lbr_iiwa_link_6</child>
+      <parent>lbr_iiwa_link_5</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_7'>
+      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <mass>0.3</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_7_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_7_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J6' type='revolute'>
+      <child>lbr_iiwa_link_7</child>
+      <parent>lbr_iiwa_link_6</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-3.05433</lower>
+          <upper>3.05433</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <!-- Attach the base of the gripper to the end of the arm -->
+    <joint name='gripper_to_arm' type='fixed'>
+      <parent>lbr_iiwa_link_7</parent>
+      <child>base_link</child>
+    </joint>
+    <link name='base_link'>
+      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <mass>1.2</mass>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+      <visual name='base_link_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+		  <box>
+		     <size>0.05 0.05 0.1 </size>
+		  </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <joint name='base_left_finger_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>left_finger</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.4</lower>
+          <upper>10.01</upper>
+          <effort>100</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='left_finger'>
+      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <mass>0.1</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_visual'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='left_finger_base_joint' type='fixed'>
+      <parent>left_finger</parent>
+      <child>left_finger_base</child>
+    </joint>
+    <link name='left_finger_base'>
+      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <inertial>
+        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_base_visual'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_left.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='left_finger_base_collision'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_left.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='left_base_tip_joint' type='revolute'>
+      <parent>left_finger_base</parent>
+      <child>left_finger_tip</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.1</lower>
+          <upper>10.3</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='left_finger_tip'>
+      <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>1.0</spinning_friction>
+      </contact>
+      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <inertial>
+        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_tip_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_left.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='left_finger_tip_collision'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_left.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='base_right_finger_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>right_finger</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.01</lower>
+          <upper>10.4</upper>
+          <effort>100</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='right_finger'>
+      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <mass>0.1</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_visual'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='right_finger_base_joint' type='fixed'>
+      <parent>right_finger</parent>
+      <child>right_finger_base</child>
+    </joint>
+    <link name='right_finger_base'>
+      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <inertial>
+        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_base_visual'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_right.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='right_finger_base_collision'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_right.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='right_base_tip_joint' type='revolute'>
+      <parent>right_finger_base</parent>
+      <child>right_finger_tip</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.3</lower>
+          <upper>10.1</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='right_finger_tip'>
+      <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>1.0</spinning_friction>
+      </contact>
+      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <inertial>
+        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_right.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='right_finger_tip_collision'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_right.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</world>
+</sdf>

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/kuka_with_gripper2.sdf

@@ -0,0 +1,857 @@
+<?xml version="1.0" ?>
+<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
+    It has been produced from the varients in //third_party/robotics/models.
+    Note:  This file is temporary, and should be deleted once Bullet supports
+    importing models in SDF.  Also, this file has been specialized for Bullet,
+    because the mass of the base link has been set to 0, as needed by Bullet.
+    Note:  All of the gripper link poses have been adjusted in the z direction
+    to achieve a reasonable position of the gripper relative to the arm.
+    Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
+<sdf version='1.6'>
+  <world name='default'>
+  <model name='lbr_iiwa_with_wsg50'>
+    <link name='lbr_iiwa_link_0'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <mass>0</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.06</iyy>
+          <iyz>0</iyz>
+          <izz>0.03</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_0_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>/meshes/link_0.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_0_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_0.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+          <specular>0.4 0.4 0.4 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <link name='lbr_iiwa_link_1'>
+      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.09</iyy>
+          <iyz>0</iyz>
+          <izz>0.02</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_1_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_1_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J0' type='revolute'>
+      <child>lbr_iiwa_link_1</child>
+      <parent>lbr_iiwa_link_0</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_2'>
+      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.044</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_2_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_2_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J1' type='revolute'>
+      <child>lbr_iiwa_link_2</child>
+      <parent>lbr_iiwa_link_1</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_3'>
+      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <mass>3</mass>
+        <inertia>
+          <ixx>0.08</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.075</iyy>
+          <iyz>0</iyz>
+          <izz>0.01</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_3_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_3_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J2' type='revolute'>
+      <child>lbr_iiwa_link_3</child>
+      <parent>lbr_iiwa_link_2</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_4'>
+      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <mass>2.7</mass>
+        <inertia>
+          <ixx>0.03</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.01</iyy>
+          <iyz>0</iyz>
+          <izz>0.029</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_4_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_4_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J3' type='revolute'>
+      <child>lbr_iiwa_link_4</child>
+      <parent>lbr_iiwa_link_3</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_5'>
+      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <mass>1.7</mass>
+        <inertia>
+          <ixx>0.02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.005</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_5_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_5_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J4' type='revolute'>
+      <child>lbr_iiwa_link_5</child>
+      <parent>lbr_iiwa_link_4</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_6'>
+      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <mass>1.8</mass>
+        <inertia>
+          <ixx>0.005</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0036</iyy>
+          <iyz>0</iyz>
+          <izz>0.0047</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_6_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_6_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J5' type='revolute'>
+      <child>lbr_iiwa_link_6</child>
+      <parent>lbr_iiwa_link_5</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_7'>
+      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <mass>1.3</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_7_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_7_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J6' type='revolute'>
+      <child>lbr_iiwa_link_7</child>
+      <parent>lbr_iiwa_link_6</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-3.05433</lower>
+          <upper>3.05433</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <!-- Attach the base of the gripper to the end of the arm -->
+    <joint name='gripper_to_arm' type='continuous'>
+      <parent>lbr_iiwa_link_7</parent>
+      <child>base_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    
+    
+    <link name='base_link'>
+      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+      <visual name='base_link_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+		  <box>
+		     <size>0.05 0.05 0.1 </size>
+		  </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+        <collision name='base_link_collision'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+		  <box>
+		     <size>0.05 0.05 0.1 </size>
+		  </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </collision>
+    </link>
+
+    <joint name='base_left_finger_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>left_finger</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.4</lower>
+          <upper>10.01</upper>
+          <effort>100</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='left_finger'>
+      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_visual'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+       <collision name='left_finger_collision'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+        
+      </collision>
+    </link>
+    <joint name='left_finger_base_joint' type='fixed'>
+      <parent>left_finger</parent>
+      <child>left_finger_base</child>
+    </joint>
+    <link name='left_finger_base'>
+    <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>.1</spinning_friction>
+      </contact>
+      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <inertial>
+        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_base_visual'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_left.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='left_finger_base_collision'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_left.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='left_base_tip_joint' type='revolute'>
+      <parent>left_finger_base</parent>
+      <child>left_finger_tip</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.1</lower>
+          <upper>10.3</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='left_finger_tip'>
+      <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>.1</spinning_friction>
+      </contact>
+      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <inertial>
+        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_tip_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_left.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='left_finger_tip_collision'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_left.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='base_right_finger_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>right_finger</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.01</lower>
+          <upper>10.4</upper>
+          <effort>100</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='right_finger'>
+    <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>.1</spinning_friction>
+      </contact>
+      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_visual'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='right_finger_collision'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </collision>
+    </link>
+    <joint name='right_finger_base_joint' type='fixed'>
+      <parent>right_finger</parent>
+      <child>right_finger_base</child>
+    </joint>
+    <link name='right_finger_base'>
+    <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>.1</spinning_friction>
+      </contact>
+      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <inertial>
+        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_base_visual'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_right.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='right_finger_base_collision'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_right.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='right_base_tip_joint' type='revolute'>
+      <parent>right_finger_base</parent>
+      <child>right_finger_tip</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.3</lower>
+          <upper>10.1</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='right_finger_tip'>
+      <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>.1</spinning_friction>
+      </contact>
+      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <inertial>
+        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_right.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='right_finger_tip_collision'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_right.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</world>
+</sdf>

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/kuka_world.sdf

@@ -0,0 +1,414 @@
+<sdf version='1.6'>
+<world name='default'>
+  <model name='lbr_iiwa'>
+    <joint name='fix_to_world' type='fixed'>
+      <parent>world</parent>
+      <child>lbr_iiwa_link_0</child>
+    </joint>
+    <link name='lbr_iiwa_link_0'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <mass>0.01</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.06</iyy>
+          <iyz>0</iyz>
+          <izz>0.03</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_0_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_0.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_0_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_0.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <link name='lbr_iiwa_link_1'>
+      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.09</iyy>
+          <iyz>0</iyz>
+          <izz>0.02</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_1_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_1.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_1_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_1' type='revolute'>
+      <child>lbr_iiwa_link_1</child>
+      <parent>lbr_iiwa_link_0</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_2'>
+      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.044</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_2_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_2.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_2_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_2' type='revolute'>
+      <child>lbr_iiwa_link_2</child>
+      <parent>lbr_iiwa_link_1</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_3'>
+      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <mass>3</mass>
+        <inertia>
+          <ixx>0.08</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.075</iyy>
+          <iyz>0</iyz>
+          <izz>0.01</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_3_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_3.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_3_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_3' type='revolute'>
+      <child>lbr_iiwa_link_3</child>
+      <parent>lbr_iiwa_link_2</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_4'>
+      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <mass>2.7</mass>
+        <inertia>
+          <ixx>0.03</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.01</iyy>
+          <iyz>0</iyz>
+          <izz>0.029</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_4_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_4.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_4_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_4' type='revolute'>
+      <child>lbr_iiwa_link_4</child>
+      <parent>lbr_iiwa_link_3</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_5'>
+      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <mass>1.7</mass>
+        <inertia>
+          <ixx>0.02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.005</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_5_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_5.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_5_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_5' type='revolute'>
+      <child>lbr_iiwa_link_5</child>
+      <parent>lbr_iiwa_link_4</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_6'>
+      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <mass>1.8</mass>
+        <inertia>
+          <ixx>0.005</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0036</iyy>
+          <iyz>0</iyz>
+          <izz>0.0047</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_6_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_6.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_6_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_6' type='revolute'>
+      <child>lbr_iiwa_link_6</child>
+      <parent>lbr_iiwa_link_5</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_7'>
+      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <mass>0.3</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_7_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_7.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_7_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_7' type='revolute'>
+      <child>lbr_iiwa_link_7</child>
+      <parent>lbr_iiwa_link_6</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-3.05433</lower>
+          <upper>3.05433</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+  </model>
+</world>
+</sdf>

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.mtl

@@ -0,0 +1,10 @@
+# Blender MTL 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

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_1.mtl

@@ -0,0 +1,10 @@
+# Blender MTL 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

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_2.mtl

@@ -0,0 +1,10 @@
+# Blender MTL 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

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_3.mtl

@@ -0,0 +1,10 @@
+# Blender MTL 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

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.mtl

@@ -0,0 +1,10 @@
+# Blender MTL 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

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_5.mtl

@@ -0,0 +1,10 @@
+# Blender MTL 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

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_6.mtl

@@ -0,0 +1,10 @@
+# Blender MTL 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

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_7.mtl

@@ -0,0 +1,10 @@
+# Blender MTL 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

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model.sdf

@@ -0,0 +1,459 @@
+<sdf version='1.6'>
+<world name='default'>
+  <model name='lbr_iiwa'>
+  <pose frame=''>0 -2.3 0.7 0 0 0</pose>
+    <link name='lbr_iiwa_link_0'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <mass>0</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.06</iyy>
+          <iyz>0</iyz>
+          <izz>0.03</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_0_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_0.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_0_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_0.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.2 0.2 0.2 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <link name='lbr_iiwa_link_1'>
+      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.09</iyy>
+          <iyz>0</iyz>
+          <izz>0.02</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_1_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_1_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_1' type='revolute'>
+      <child>lbr_iiwa_link_1</child>
+      <parent>lbr_iiwa_link_0</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_2'>
+      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.044</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_2_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_2_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_2' type='revolute'>
+      <child>lbr_iiwa_link_2</child>
+      <parent>lbr_iiwa_link_1</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_3'>
+      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <mass>3</mass>
+        <inertia>
+          <ixx>0.08</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.075</iyy>
+          <iyz>0</iyz>
+          <izz>0.01</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_3_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_3_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.stl</uri>
+          </mesh>
+        </geometry>
+				<material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.42 0.04 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_3' type='revolute'>
+      <child>lbr_iiwa_link_3</child>
+      <parent>lbr_iiwa_link_2</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_4'>
+      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <mass>2.7</mass>
+        <inertia>
+          <ixx>0.03</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.01</iyy>
+          <iyz>0</iyz>
+          <izz>0.029</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_4_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_4_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_4' type='revolute'>
+      <child>lbr_iiwa_link_4</child>
+      <parent>lbr_iiwa_link_3</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_5'>
+      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <mass>1.7</mass>
+        <inertia>
+          <ixx>0.02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.005</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_5_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_5_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_5' type='revolute'>
+      <child>lbr_iiwa_link_5</child>
+      <parent>lbr_iiwa_link_4</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_6'>
+      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <mass>1.8</mass>
+        <inertia>
+          <ixx>0.005</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0036</iyy>
+          <iyz>0</iyz>
+          <izz>0.0047</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_6_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_6_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.42 0.04 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_6' type='revolute'>
+      <child>lbr_iiwa_link_6</child>
+      <parent>lbr_iiwa_link_5</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_7'>
+      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <mass>0.3</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_7_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_7_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.2 0.2 0.2 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_7' type='revolute'>
+      <child>lbr_iiwa_link_7</child>
+      <parent>lbr_iiwa_link_6</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-3.05433</lower>
+          <upper>3.05433</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+  </model>
+ </world>
+</sdf>

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model.urdf

@@ -0,0 +1,289 @@
+<?xml version="1.0" ?>
+<!-- ======================================================================= -->
+<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro   | -->
+<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED                        | -->
+<!-- | Changes (kohlhoff):                                                 | -->
+<!-- |   * Removed gazebo tags.                                            | -->
+<!-- |   * Removed unused materials.                                       | -->
+<!-- |   * Made mesh paths relative.                                       | -->
+<!-- |   * Removed material fields from collision segments.                | -->
+<!-- |   * Removed the self_collision_checking segment.                    | -->
+<!-- |   * Removed transmission segments, since they didn't match the      | -->
+<!-- |     convention, will have to added back later.                      | -->
+<!-- ======================================================================= -->
+<!--LICENSE:                                                                 -->
+<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center,  -->
+<!--Orebro University, Sweden                                                -->
+<!--All rights reserved.                                                     -->
+<!--                                                                         -->
+<!--Redistribution and use in source and binary forms, with or without       -->
+<!--modification, are permitted provided that the following conditions are   -->
+<!--met:                                                                     -->
+<!--                                                                         -->
+<!--1. Redistributions of source code must retain the above copyright notice,-->
+<!--   this list of conditions and the following disclaimer.                 -->
+<!--                                                                         -->
+<!--2. Redistributions in binary form must reproduce the above copyright     -->
+<!--   notice, this list of conditions and the following disclaimer in the   -->
+<!--   documentation and/or other materials provided with the distribution.  -->
+<!--                                                                         -->
+<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  -->
+<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
+<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   -->
+<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        -->
+<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    -->
+<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      -->
+<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       -->
+<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   -->
+<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     -->
+<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       -->
+<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             -->
+<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- Import Rviz colors -->
+  <material name="Grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="Orange">
+    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <material name="Blue">
+  <color rgba="0.5 0.7 1.0 1.0"/>      
+</material>
+
+  <!--Import the lbr iiwa macro -->
+  <!--Import Transmissions -->
+  <!--Include Utilities -->
+  <!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
+  <!--Little helper macros to define the inertia matrix needed for links.-->
+  <!--Cuboid-->
+  <!--Cylinder: length is along the y-axis! -->
+  <!--lbr-->
+  <link name="lbr_iiwa_link_0">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
+      <!--Increase mass from 5 Kg original to provide a stable base to carry the
+          arm.-->
+      <mass value="0.0"/>
+      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_0.obj"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_0.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_0 and link_1 -->
+  <joint name="lbr_iiwa_joint_1" type="revolute">
+    <parent link="lbr_iiwa_link_0"/>
+    <child link="lbr_iiwa_link_1"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1575"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
+      <mass value="4"/>
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_1.obj"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_1 and link_2 -->
+  <joint name="lbr_iiwa_joint_2" type="revolute">
+    <parent link="lbr_iiwa_link_1"/>
+    <child link="lbr_iiwa_link_2"/>
+    <origin rpy="1.57079632679   0 3.14159265359" xyz="0 0 0.2025"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
+      <mass value="4"/>
+      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_2.obj"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_2 and link_3 -->
+  <joint name="lbr_iiwa_joint_3" type="revolute">
+    <parent link="lbr_iiwa_link_2"/>
+    <child link="lbr_iiwa_link_3"/>
+    <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.03 0.13"/>
+      <mass value="3"/>
+      <inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_3.obj"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_3 and link_4 -->
+  <joint name="lbr_iiwa_joint_4" type="revolute">
+    <parent link="lbr_iiwa_link_3"/>
+    <child link="lbr_iiwa_link_4"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.067 0.034"/>
+      <mass value="2.7"/>
+      <inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_4.obj"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_4 and link_5 -->
+  <joint name="lbr_iiwa_joint_5" type="revolute">
+    <parent link="lbr_iiwa_link_4"/>
+    <child link="lbr_iiwa_link_5"/>
+    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
+      <mass value="1.7"/>
+      <inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_5.obj"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_5 and link_6 -->
+  <joint name="lbr_iiwa_joint_6" type="revolute">
+    <parent link="lbr_iiwa_link_5"/>
+    <child link="lbr_iiwa_link_6"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
+      <mass value="1.8"/>
+      <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_6.obj"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_6 and link_7 -->
+  <joint name="lbr_iiwa_joint_7" type="revolute">
+    <parent link="lbr_iiwa_link_6"/>
+    <child link="lbr_iiwa_link_7"/>
+    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.02"/>
+      <mass value="0.3"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_7.obj"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  
+</robot>
+

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model2.sdf

@@ -0,0 +1,818 @@
+<sdf version='1.6'>
+<world name='default'>
+  <model name='lbr_iiwa'>
+    <link name='lbr_iiwa_link_0'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <mass>0</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.06</iyy>
+          <iyz>0</iyz>
+          <izz>0.03</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_0_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_0.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_0_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_0.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <link name='lbr_iiwa_link_1'>
+      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.09</iyy>
+          <iyz>0</iyz>
+          <izz>0.02</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_1_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_1.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_1_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_1' type='revolute'>
+      <child>lbr_iiwa_link_1</child>
+      <parent>lbr_iiwa_link_0</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_2'>
+      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.044</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_2_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_2.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_2_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_2' type='revolute'>
+      <child>lbr_iiwa_link_2</child>
+      <parent>lbr_iiwa_link_1</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_3'>
+      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <mass>3</mass>
+        <inertia>
+          <ixx>0.08</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.075</iyy>
+          <iyz>0</iyz>
+          <izz>0.01</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_3_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_3.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_3_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_3' type='revolute'>
+      <child>lbr_iiwa_link_3</child>
+      <parent>lbr_iiwa_link_2</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_4'>
+      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <mass>2.7</mass>
+        <inertia>
+          <ixx>0.03</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.01</iyy>
+          <iyz>0</iyz>
+          <izz>0.029</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_4_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_4.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_4_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_4' type='revolute'>
+      <child>lbr_iiwa_link_4</child>
+      <parent>lbr_iiwa_link_3</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_5'>
+      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <mass>1.7</mass>
+        <inertia>
+          <ixx>0.02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.005</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_5_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_5.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_5_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_5' type='revolute'>
+      <child>lbr_iiwa_link_5</child>
+      <parent>lbr_iiwa_link_4</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_6'>
+      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <mass>1.8</mass>
+        <inertia>
+          <ixx>0.005</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0036</iyy>
+          <iyz>0</iyz>
+          <izz>0.0047</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_6_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_6.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_6_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_6' type='revolute'>
+      <child>lbr_iiwa_link_6</child>
+      <parent>lbr_iiwa_link_5</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_7'>
+      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <mass>0.3</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_7_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_7.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_7_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_7' type='revolute'>
+      <child>lbr_iiwa_link_7</child>
+      <parent>lbr_iiwa_link_6</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-3.05433</lower>
+          <upper>3.05433</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+  </model>
+  
+  <model name='lbr_iiwa'>
+    <pose frame=''>2 2 0 0 -0 0</pose>
+    <link name='lbr_iiwa_link_0'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <mass>0</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.06</iyy>
+          <iyz>0</iyz>
+          <izz>0.03</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_0_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_0.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_0_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_0.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <link name='lbr_iiwa_link_1'>
+      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.09</iyy>
+          <iyz>0</iyz>
+          <izz>0.02</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_1_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_1.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_1_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_1' type='revolute'>
+      <child>lbr_iiwa_link_1</child>
+      <parent>lbr_iiwa_link_0</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_2'>
+      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.044</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_2_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_2.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_2_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_2' type='revolute'>
+      <child>lbr_iiwa_link_2</child>
+      <parent>lbr_iiwa_link_1</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_3'>
+      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <mass>3</mass>
+        <inertia>
+          <ixx>0.08</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.075</iyy>
+          <iyz>0</iyz>
+          <izz>0.01</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_3_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_3.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_3_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_3' type='revolute'>
+      <child>lbr_iiwa_link_3</child>
+      <parent>lbr_iiwa_link_2</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_4'>
+      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <mass>2.7</mass>
+        <inertia>
+          <ixx>0.03</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.01</iyy>
+          <iyz>0</iyz>
+          <izz>0.029</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_4_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_4.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_4_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_4' type='revolute'>
+      <child>lbr_iiwa_link_4</child>
+      <parent>lbr_iiwa_link_3</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_5'>
+      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <mass>1.7</mass>
+        <inertia>
+          <ixx>0.02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.005</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_5_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_5.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_5_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_5' type='revolute'>
+      <child>lbr_iiwa_link_5</child>
+      <parent>lbr_iiwa_link_4</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_6'>
+      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <mass>1.8</mass>
+        <inertia>
+          <ixx>0.005</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0036</iyy>
+          <iyz>0</iyz>
+          <izz>0.0047</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_6_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_6.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_6_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_6' type='revolute'>
+      <child>lbr_iiwa_link_6</child>
+      <parent>lbr_iiwa_link_5</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_7'>
+      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <mass>0.3</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_7_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/coarse/link_7.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_7_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='lbr_iiwa_joint_7' type='revolute'>
+      <child>lbr_iiwa_link_7</child>
+      <parent>lbr_iiwa_link_6</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-3.05433</lower>
+          <upper>3.05433</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+  </model>
+ </world>
+</sdf>

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_for_sdf.urdf

@@ -0,0 +1,285 @@
+<?xml version="1.0" ?>
+<!-- ======================================================================= -->
+<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro   | -->
+<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED                        | -->
+<!-- | Changes (kohlhoff):                                                 | -->
+<!-- |   * Removed gazebo tags.                                            | -->
+<!-- |   * Removed unused materials.                                       | -->
+<!-- |   * Made mesh paths relative.                                       | -->
+<!-- |   * Removed material fields from collision segments.                | -->
+<!-- |   * Removed the self_collision_checking segment.                    | -->
+<!-- |   * Removed transmission segments, since they didn't match the      | -->
+<!-- |     convention, will have to added back later.                      | -->
+<!-- ======================================================================= -->
+<!--LICENSE:                                                                 -->
+<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center,  -->
+<!--Orebro University, Sweden                                                -->
+<!--All rights reserved.                                                     -->
+<!--                                                                         -->
+<!--Redistribution and use in source and binary forms, with or without       -->
+<!--modification, are permitted provided that the following conditions are   -->
+<!--met:                                                                     -->
+<!--                                                                         -->
+<!--1. Redistributions of source code must retain the above copyright notice,-->
+<!--   this list of conditions and the following disclaimer.                 -->
+<!--                                                                         -->
+<!--2. Redistributions in binary form must reproduce the above copyright     -->
+<!--   notice, this list of conditions and the following disclaimer in the   -->
+<!--   documentation and/or other materials provided with the distribution.  -->
+<!--                                                                         -->
+<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  -->
+<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
+<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   -->
+<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        -->
+<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    -->
+<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      -->
+<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       -->
+<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   -->
+<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     -->
+<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       -->
+<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             -->
+<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- Import Rviz colors -->
+  <material name="Grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="Orange">
+    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <!--Import the lbr iiwa macro -->
+  <!--Import Transmissions -->
+  <!--Include Utilities -->
+  <!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
+  <!--Little helper macros to define the inertia matrix needed for links.-->
+  <!--Cuboid-->
+  <!--Cylinder: length is along the y-axis! -->
+  <!--lbr-->
+  <link name="lbr_iiwa_link_0">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
+      <!--Increase mass from 5 Kg original to provide a stable base to carry the
+          arm.-->
+      <mass value="0.01"/>
+      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_0.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/coarse/link_0.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_0 and link_1 -->
+  <joint name="lbr_iiwa_joint_1" type="revolute">
+    <parent link="lbr_iiwa_link_0"/>
+    <child link="lbr_iiwa_link_1"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1575"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
+      <mass value="4"/>
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_1.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/coarse/link_1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_1 and link_2 -->
+  <joint name="lbr_iiwa_joint_2" type="revolute">
+    <parent link="lbr_iiwa_link_1"/>
+    <child link="lbr_iiwa_link_2"/>
+    <origin rpy="1.57079632679   0 3.14159265359" xyz="0 0 0.2025"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
+      <mass value="4"/>
+      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_2.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/coarse/link_2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- joint between link_2 and link_3 -->
+  <joint name="lbr_iiwa_joint_3" type="revolute">
+    <parent link="lbr_iiwa_link_2"/>
+    <child link="lbr_iiwa_link_3"/>
+    <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.03 0.13"/>
+      <mass value="3"/>
+      <inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_3.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/coarse/link_3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_3 and link_4 -->
+  <joint name="lbr_iiwa_joint_4" type="revolute">
+    <parent link="lbr_iiwa_link_3"/>
+    <child link="lbr_iiwa_link_4"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.067 0.034"/>
+      <mass value="2.7"/>
+      <inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_4.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/coarse/link_4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_4 and link_5 -->
+  <joint name="lbr_iiwa_joint_5" type="revolute">
+    <parent link="lbr_iiwa_link_4"/>
+    <child link="lbr_iiwa_link_5"/>
+    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
+      <mass value="1.7"/>
+      <inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_5.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/coarse/link_5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_5 and link_6 -->
+  <joint name="lbr_iiwa_joint_6" type="revolute">
+    <parent link="lbr_iiwa_link_5"/>
+    <child link="lbr_iiwa_link_6"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
+      <mass value="1.8"/>
+      <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_6.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/coarse/link_6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_6 and link_7 -->
+  <joint name="lbr_iiwa_joint_7" type="revolute">
+    <parent link="lbr_iiwa_link_6"/>
+    <child link="lbr_iiwa_link_7"/>
+    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.02"/>
+      <mass value="0.3"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_7.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/coarse/link_7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+</robot>

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_free_base.urdf

@@ -0,0 +1,289 @@
+<?xml version="1.0" ?>
+<!-- ======================================================================= -->
+<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro   | -->
+<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED                        | -->
+<!-- | Changes (kohlhoff):                                                 | -->
+<!-- |   * Removed gazebo tags.                                            | -->
+<!-- |   * Removed unused materials.                                       | -->
+<!-- |   * Made mesh paths relative.                                       | -->
+<!-- |   * Removed material fields from collision segments.                | -->
+<!-- |   * Removed the self_collision_checking segment.                    | -->
+<!-- |   * Removed transmission segments, since they didn't match the      | -->
+<!-- |     convention, will have to added back later.                      | -->
+<!-- ======================================================================= -->
+<!--LICENSE:                                                                 -->
+<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center,  -->
+<!--Orebro University, Sweden                                                -->
+<!--All rights reserved.                                                     -->
+<!--                                                                         -->
+<!--Redistribution and use in source and binary forms, with or without       -->
+<!--modification, are permitted provided that the following conditions are   -->
+<!--met:                                                                     -->
+<!--                                                                         -->
+<!--1. Redistributions of source code must retain the above copyright notice,-->
+<!--   this list of conditions and the following disclaimer.                 -->
+<!--                                                                         -->
+<!--2. Redistributions in binary form must reproduce the above copyright     -->
+<!--   notice, this list of conditions and the following disclaimer in the   -->
+<!--   documentation and/or other materials provided with the distribution.  -->
+<!--                                                                         -->
+<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  -->
+<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
+<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   -->
+<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        -->
+<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    -->
+<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      -->
+<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       -->
+<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   -->
+<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     -->
+<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       -->
+<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             -->
+<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- Import Rviz colors -->
+  <material name="Grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="Orange">
+    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <material name="Blue">
+  <color rgba="0.5 0.7 1.0 1.0"/>      
+</material>
+
+  <!--Import the lbr iiwa macro -->
+  <!--Import Transmissions -->
+  <!--Include Utilities -->
+  <!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
+  <!--Little helper macros to define the inertia matrix needed for links.-->
+  <!--Cuboid-->
+  <!--Cylinder: length is along the y-axis! -->
+  <!--lbr-->
+  <link name="lbr_iiwa_link_0">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
+      <!--Increase mass from 5 Kg original to provide a stable base to carry the
+          arm.-->
+      <mass value="0.1"/>
+      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_0.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_0.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_0 and link_1 -->
+  <joint name="lbr_iiwa_joint_1" type="revolute">
+    <parent link="lbr_iiwa_link_0"/>
+    <child link="lbr_iiwa_link_1"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1575"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
+      <mass value="4"/>
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_1.stl"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_1 and link_2 -->
+  <joint name="lbr_iiwa_joint_2" type="revolute">
+    <parent link="lbr_iiwa_link_1"/>
+    <child link="lbr_iiwa_link_2"/>
+    <origin rpy="1.57079632679   0 3.14159265359" xyz="0 0 0.2025"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
+      <mass value="4"/>
+      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_2.stl"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_2 and link_3 -->
+  <joint name="lbr_iiwa_joint_3" type="revolute">
+    <parent link="lbr_iiwa_link_2"/>
+    <child link="lbr_iiwa_link_3"/>
+    <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.03 0.13"/>
+      <mass value="3"/>
+      <inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_3.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_3 and link_4 -->
+  <joint name="lbr_iiwa_joint_4" type="revolute">
+    <parent link="lbr_iiwa_link_3"/>
+    <child link="lbr_iiwa_link_4"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.067 0.034"/>
+      <mass value="2.7"/>
+      <inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_4.stl"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_4 and link_5 -->
+  <joint name="lbr_iiwa_joint_5" type="revolute">
+    <parent link="lbr_iiwa_link_4"/>
+    <child link="lbr_iiwa_link_5"/>
+    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
+      <mass value="1.7"/>
+      <inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_5.stl"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_5 and link_6 -->
+  <joint name="lbr_iiwa_joint_6" type="revolute">
+    <parent link="lbr_iiwa_link_5"/>
+    <child link="lbr_iiwa_link_6"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
+      <mass value="1.8"/>
+      <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_6.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_6 and link_7 -->
+  <joint name="lbr_iiwa_joint_7" type="revolute">
+    <parent link="lbr_iiwa_link_6"/>
+    <child link="lbr_iiwa_link_7"/>
+    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.02"/>
+      <mass value="0.3"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_7.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  
+</robot>
+

examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_vr_limits.urdf

@@ -0,0 +1,289 @@
+<?xml version="1.0" ?>
+<!-- ======================================================================= -->
+<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro   | -->
+<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED                        | -->
+<!-- | Changes (kohlhoff):                                                 | -->
+<!-- |   * Removed gazebo tags.                                            | -->
+<!-- |   * Removed unused materials.                                       | -->
+<!-- |   * Made mesh paths relative.                                       | -->
+<!-- |   * Removed material fields from collision segments.                | -->
+<!-- |   * Removed the self_collision_checking segment.                    | -->
+<!-- |   * Removed transmission segments, since they didn't match the      | -->
+<!-- |     convention, will have to added back later.                      | -->
+<!-- ======================================================================= -->
+<!--LICENSE:                                                                 -->
+<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center,  -->
+<!--Orebro University, Sweden                                                -->
+<!--All rights reserved.                                                     -->
+<!--                                                                         -->
+<!--Redistribution and use in source and binary forms, with or without       -->
+<!--modification, are permitted provided that the following conditions are   -->
+<!--met:                                                                     -->
+<!--                                                                         -->
+<!--1. Redistributions of source code must retain the above copyright notice,-->
+<!--   this list of conditions and the following disclaimer.                 -->
+<!--                                                                         -->
+<!--2. Redistributions in binary form must reproduce the above copyright     -->
+<!--   notice, this list of conditions and the following disclaimer in the   -->
+<!--   documentation and/or other materials provided with the distribution.  -->
+<!--                                                                         -->
+<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  -->
+<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
+<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   -->
+<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        -->
+<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    -->
+<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      -->
+<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       -->
+<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   -->
+<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     -->
+<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       -->
+<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             -->
+<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- Import Rviz colors -->
+  <material name="Grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="Orange">
+    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <material name="Blue">
+  <color rgba="0.5 0.7 1.0 1.0"/>      
+</material>
+
+  <!--Import the lbr iiwa macro -->
+  <!--Import Transmissions -->
+  <!--Include Utilities -->
+  <!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
+  <!--Little helper macros to define the inertia matrix needed for links.-->
+  <!--Cuboid-->
+  <!--Cylinder: length is along the y-axis! -->
+  <!--lbr-->
+  <link name="lbr_iiwa_link_0">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
+      <!--Increase mass from 5 Kg original to provide a stable base to carry the
+          arm.-->
+      <mass value="0.0"/>
+      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_0.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_0.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_0 and link_1 -->
+  <joint name="lbr_iiwa_joint_1" type="revolute">
+    <parent link="lbr_iiwa_link_0"/>
+    <child link="lbr_iiwa_link_1"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1575"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-.96705972839" upper="0.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
+      <mass value="4"/>
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_1.stl"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_1 and link_2 -->
+  <joint name="lbr_iiwa_joint_2" type="revolute">
+    <parent link="lbr_iiwa_link_1"/>
+    <child link="lbr_iiwa_link_2"/>
+    <origin rpy="1.57079632679   0 3.14159265359" xyz="0 0 0.2025"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
+      <mass value="4"/>
+      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_2.stl"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_2 and link_3 -->
+  <joint name="lbr_iiwa_joint_3" type="revolute">
+    <parent link="lbr_iiwa_link_2"/>
+    <child link="lbr_iiwa_link_3"/>
+    <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.03 0.13"/>
+      <mass value="3"/>
+      <inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_3.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_3 and link_4 -->
+  <joint name="lbr_iiwa_joint_4" type="revolute">
+    <parent link="lbr_iiwa_link_3"/>
+    <child link="lbr_iiwa_link_4"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0.19439510239" upper="2.29439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.067 0.034"/>
+      <mass value="2.7"/>
+      <inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_4.stl"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_4 and link_5 -->
+  <joint name="lbr_iiwa_joint_5" type="revolute">
+    <parent link="lbr_iiwa_link_4"/>
+    <child link="lbr_iiwa_link_5"/>
+    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
+      <mass value="1.7"/>
+      <inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_5.stl"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_5 and link_6 -->
+  <joint name="lbr_iiwa_joint_6" type="revolute">
+    <parent link="lbr_iiwa_link_5"/>
+    <child link="lbr_iiwa_link_6"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
+      <mass value="1.8"/>
+      <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_6.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between link_6 and link_7 -->
+  <joint name="lbr_iiwa_joint_7" type="revolute">
+    <parent link="lbr_iiwa_link_6"/>
+    <child link="lbr_iiwa_link_7"/>
+    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
+    <dynamics damping="0.5"/>
+  </joint>
+  <link name="lbr_iiwa_link_7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.02"/>
+      <mass value="0.3"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_7.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link_7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  
+</robot>
+

examples/pybullet/gym/pybullet_envs/data/mjcf/ant.xml

@@ -0,0 +1,71 @@
+<mujoco model="ant">
+  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
+  <option integrator="RK4" timestep="0.01"/>
+  <custom>
+    <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
+  </custom>
+  <default>
+    <joint armature="1" damping="1" limited="true"/>
+    <geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
+  </default>
+  <worldbody>
+    <body name="torso" pos="0 0 0.75">
+      <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
+      <!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
+      <body name="front_left_leg" pos="0 0 0">
+        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+        <body name="aux_1" pos="0.2 0.2 0">
+          <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+          <body pos="0.2 0.2 0" name="front_left_foot">
+            <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+          </body>
+        </body>
+      </body>
+      <body name="front_right_leg" pos="0 0 0">
+        <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
+        <body name="aux_2" pos="-0.2 0.2 0">
+          <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
+          <body pos="-0.2 0.2 0" name="front_right_foot">
+            <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
+          </body>
+        </body>
+      </body>
+      <body name="left_back_leg" pos="0 0 0">
+        <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
+        <body name="aux_3" pos="-0.2 -0.2 0">
+          <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
+          <body pos="-0.2 -0.2 0" name="left_back_foot">
+            <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
+          </body>
+        </body>
+      </body>
+      <body name="right_back_leg" pos="0 0 0">
+        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+        <body name="aux_4" pos="0.2 -0.2 0">
+          <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+          <body pos="0.2 -0.2 0" name="right_back_foot">
+            <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
+  </actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/capsule.xml

@@ -0,0 +1,13 @@
+ <!--
+ MuJoCo MJCF test file. See http://mujoco.org/book/index.html
+  -->
+<mujoco>
+   <worldbody>
+      <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>    
+      <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
+      <body pos="0 0 1">
+         <joint type="free"/>
+         <geom name="aux_1_geom" size="0.05 0.1" type="capsule"/>
+      </body>
+   </worldbody>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoX.xml

@@ -0,0 +1,13 @@
+ <!--
+ MuJoCo MJCF test file. See http://mujoco.org/book/index.html
+  -->
+<mujoco>
+   <worldbody>
+      <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>    
+      <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
+      <body pos="0 0 1">
+         <joint type="free"/>
+         <geom fromto="-0.1 0.0 0.0 0.1 0.0 0.0" name="aux_1_geom" size="0.05" type="capsule"/>
+      </body>
+   </worldbody>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoY.xml

@@ -0,0 +1,13 @@
+ <!--
+ MuJoCo MJCF test file. See http://mujoco.org/book/index.html
+  -->
+<mujoco>
+   <worldbody>
+      <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>    
+      <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
+      <body pos="0 0 1">
+         <joint type="free"/>
+         <geom fromto="0.0 -0.1 0.0 0.0 0.1 0.0" name="aux_1_geom" size="0.05" type="capsule"/>
+      </body>
+   </worldbody>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoZ.xml

@@ -0,0 +1,13 @@
+ <!--
+ MuJoCo MJCF test file. See http://mujoco.org/book/index.html
+  -->
+<mujoco>
+   <worldbody>
+      <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>    
+      <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
+      <body pos="0 0 1">
+         <joint type="free"/>
+         <geom fromto="0.0 0.0 -0.1 0.0 0.0 0.1" name="aux_1_geom" size="0.05" type="capsule"/>
+      </body>
+   </worldbody>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder.xml

@@ -0,0 +1,13 @@
+ <!--
+ MuJoCo MJCF test file. See http://mujoco.org/book/index.html
+  -->
+<mujoco>
+   <worldbody>
+      <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>    
+      <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
+      <body pos="0 0 1">
+         <joint type="free"/>
+         <geom name="aux_1_geom" size="0.05 0.1" type="cylinder"/>
+      </body>
+   </worldbody>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoX.xml

@@ -0,0 +1,13 @@
+ <!--
+ MuJoCo MJCF test file. See http://mujoco.org/book/index.html
+  -->
+<mujoco>
+   <worldbody>
+      <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>    
+      <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
+      <body pos="0 0 1">
+         <joint type="free"/>
+         <geom fromto="-0.1 0.0 0.0 0.1 0.0 0.0" name="aux_1_geom" size="0.05" type="cylinder"/>
+      </body>
+   </worldbody>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoY.xml

@@ -0,0 +1,13 @@
+ <!--
+ MuJoCo MJCF test file. See http://mujoco.org/book/index.html
+  -->
+<mujoco>
+   <worldbody>
+      <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>    
+      <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
+      <body pos="0 0 1">
+         <joint type="free"/>
+         <geom fromto="0.0 -0.1 0.0 0.0 0.1 0.0" name="aux_1_geom" size="0.05" type="cylinder"/>
+      </body>
+   </worldbody>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoZ.xml

@@ -0,0 +1,13 @@
+ <!--
+ MuJoCo MJCF test file. See http://mujoco.org/book/index.html
+  -->
+<mujoco>
+   <worldbody>
+      <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>    
+      <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
+      <body pos="0 0 1">
+         <joint type="free"/>
+         <geom fromto="0.0 0.0 -0.1 0.0 0.0 0.1" name="aux_1_geom" size="0.05" type="cylinder"/>
+      </body>
+   </worldbody>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/ground.xml

@@ -0,0 +1,57 @@
+<mujoco model="humanoid">
+    <compiler angle="degree" inertiafromgeom="true"/>
+    <default>
+        <joint armature="1" damping="1" limited="true"/>
+        <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
+        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+    </default>
+    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
+        <!-- <flags solverstat="enable" energy="enable"/>-->
+    </option>
+    <size nkey="5" nuser_geom="1"/>
+    <visual>
+        <map fogend="5" fogstart="3"/>
+    </visual>
+    <asset>
+        <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
+        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
+        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+        <material name="geom" texture="texgeom" texuniform="true"/>
+    </asset>
+    <worldbody>
+        <!-- light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/-->
+        <geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
+       
+    </worldbody>
+    <tendon>
+        <fixed name="left_hipknee">
+            <joint coef="-1" joint="left_hip_y"/>
+            <joint coef="1" joint="left_knee"/>
+        </fixed>
+        <fixed name="right_hipknee">
+            <joint coef="-1" joint="right_hip_y"/>
+            <joint coef="1" joint="right_knee"/>
+        </fixed>
+    </tendon>
+    <actuator><!-- this section is not supported, same constants in code -->
+        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
+        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
+        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
+        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
+        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
+        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
+        <motor gear="200" joint="right_knee" name="right_knee"/>
+        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
+        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
+        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
+        <motor gear="200" joint="left_knee" name="left_knee"/>
+        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
+        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
+        <motor gear="25" joint="right_elbow" name="right_elbow"/>
+        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
+        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
+        <motor gear="25" joint="left_elbow" name="left_elbow"/>
+    </actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/ground_plane.xml

@@ -0,0 +1,5 @@
+<mujoco model="ground_plane">
+  <worldbody>
+    <geom conaffinity="1" condim="3" name="floor" friction="0.8 0.1 0.1" pos="0 0 0" type="plane"/>
+  </worldbody>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/half_cheetah.xml

@@ -0,0 +1,88 @@
+<!-- Cheetah Model
+
+    The state space is populated with joints in the order that they are
+    defined in this file. The actuators also operate on joints.
+
+    State-Space (name/joint/parameter):
+        - rootx     slider      position (m)
+        - rootz     slider      position (m)
+        - rooty     hinge       angle (rad)
+        - bthigh    hinge       angle (rad)
+        - bshin     hinge       angle (rad)
+        - bfoot     hinge       angle (rad)
+        - fthigh    hinge       angle (rad)
+        - fshin     hinge       angle (rad)
+        - ffoot     hinge       angle (rad)
+        - rootx     slider      velocity (m/s)
+        - rootz     slider      velocity (m/s)
+        - rooty     hinge       angular velocity (rad/s)
+        - bthigh    hinge       angular velocity (rad/s)
+        - bshin     hinge       angular velocity (rad/s)
+        - bfoot     hinge       angular velocity (rad/s)
+        - fthigh    hinge       angular velocity (rad/s)
+        - fshin     hinge       angular velocity (rad/s)
+        - ffoot     hinge       angular velocity (rad/s)
+
+    Actuators (name/actuator/parameter):
+        - bthigh    hinge       torque (N m)
+        - bshin     hinge       torque (N m)
+        - bfoot     hinge       torque (N m)
+        - fthigh    hinge       torque (N m)
+        - fshin     hinge       torque (N m)
+        - ffoot     hinge       torque (N m)
+
+-->
+<mujoco model="cheetah">
+  <compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
+  <default>
+    <joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
+    <geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
+    <motor ctrllimited="true" ctrlrange="-1 1"/>
+  </default>
+  <size nstack="300000" nuser_geom="1"/>
+  <option gravity="0 0 -9.81" timestep="0.01"/>
+  <worldbody>
+    <body name="torso" pos="0 0 .7">
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
+      <geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
+      <geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
+      <!-- <site name='tip'  pos='.15 0 .11'/>-->
+      <body name="bthigh" pos="-.5 0 0">
+        <joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
+        <geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
+        <body name="bshin" pos=".16 0 -.25">
+          <joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
+          <geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
+          <body name="bfoot" pos="-.28 0 -.14">
+            <joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
+            <geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
+            <inertial mass="10"/>
+          </body>
+        </body>
+      </body>
+      <body name="fthigh" pos=".5 0 0">
+        <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="180" type="hinge"/>
+        <geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
+        <body name="fshin" pos="-.14 0 -.24">
+          <joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="120" type="hinge"/>
+          <geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
+          <body name="ffoot" pos=".13 0 -.18">
+            <joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="60" type="hinge"/>
+            <geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
+            <inertial mass="10"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor gear="120" joint="bthigh" name="bthigh"/>
+    <motor gear="90" joint="bshin" name="bshin"/>
+    <motor gear="60" joint="bfoot" name="bfoot"/>
+    <motor gear="120" joint="fthigh" name="fthigh"/>
+    <motor gear="60" joint="fshin" name="fshin"/>
+    <motor gear="30" joint="ffoot" name="ffoot"/>
+  </actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/hello_mjcf.xml

@@ -0,0 +1,13 @@
+ <!--
+ MuJoCo MJCF test file. See http://mujoco.org/book/index.html
+  -->
+<mujoco>
+   <worldbody>
+      <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>    
+      <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
+      <body pos="0 0 1">
+         <joint type="free"/>
+         <geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
+      </body>
+   </worldbody>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/hopper.xml

@@ -0,0 +1,39 @@
+<mujoco model="hopper">
+  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
+  <default>
+    <joint armature="1" damping="1" limited="true"/>
+    <geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.8 .1 .1" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
+    <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+  </default>
+  <option integrator="RK4" timestep="0.002"/>
+  <worldbody>
+    <!-- CHANGE: body pos="" deleted for all bodies (you can also set pos="0 0 0", it works)
+    Interpretation of body pos="" depends on coordinate="global" above.
+    Bullet doesn't support global coordinates in bodies, little motivation to fix this, as long as it works without pos="" as well.
+    After this change, Hopper still loads and works in MuJoCo simulator.
+    -->
+    <body name="torso">
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" pos="0 0 0" stiffness="0" type="hinge"/>
+      <geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
+      <body name="thigh">
+        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
+        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
+        <body name="leg">
+          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
+          <geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
+          <body name="foot">
+            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
+            <geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
+  </actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid.xml

@@ -0,0 +1,130 @@
+<mujoco model='humanoid'>
+    <compiler inertiafromgeom='true' angle='degree'/>
+
+    <default>
+        <joint limited='true' damping='1' armature='0' />
+        <geom contype='1' conaffinity='1' condim='1' rgba='0.8 0.6 .4 1'
+        	margin="0.001" solref=".02 1" solimp=".8 .8 .01" material="geom"/>
+        <motor ctrlrange='-.4 .4' ctrllimited='true'/>
+    </default>
+
+    <option timestep='0.002' iterations="50" solver="PGS">
+        <flag energy="enable"/>
+    </option>
+
+    <visual>
+        <map fogstart="3" fogend="5" force="0.1"/>
+        <quality shadowsize="2048"/>
+    </visual>
+
+    <asset>
+        <texture type="skybox" builtin="gradient" width="100" height="100" rgb1=".4 .6 .8" 
+            rgb2="0 0 0"/>  
+        <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" 
+            rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>  
+        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" 
+            width="100" height="100"/>  
+
+        <material name='MatPlane' reflectance='0.5' texture="texplane" texrepeat="1 1" texuniform="true"/>
+        <material name='geom' texture="texgeom" texuniform="true"/>
+    </asset>
+
+    <worldbody>
+        <geom name='floor' pos='0 0 0' size='10 10 0.125' type='plane' material="MatPlane" condim='3'/>
+
+        <body name='torso' pos='0 0 1.4'>
+            <light mode='trackcom' directional='false' diffuse='.8 .8 .8' specular='0.3 0.3 0.3' pos='0 0 4.0' dir='0 0 -1'/>
+
+            
+            <geom name='torso1' type='capsule' fromto='0 -.07 0 0 .07 0'  size='0.07' />
+            <geom name='head' type='sphere' pos='0 0 .19' size='.09'/>
+            <geom name='uwaist' type='capsule' fromto='-.01 -.06 -.12 -.01 .06 -.12' size='0.06'/>
+            <body name='lwaist' pos='-.01 0 -0.260' quat='1.000 0 -0.002 0' >
+                <geom name='lwaist' type='capsule' fromto='0 -.06 0 0 .06 0'  size='0.06' />
+                <joint name='abdomen_z' type='hinge' pos='0 0 0.065' axis='0 0 1' range='-45 45' damping='5' stiffness='20' armature='0.02' />
+                <joint name='abdomen_y' type='hinge' pos='0 0 0.065' axis='0 1 0' range='-75 30' damping='5' stiffness='10' armature='0.02' />
+                <body name='pelvis' pos='0 0 -0.165' quat='1.000 0 -0.002 0' >
+                    <joint name='abdomen_x' type='hinge' pos='0 0 0.1' axis='1 0 0' range='-35 35' damping='5' stiffness='10' armature='0.02' />
+                    <geom name='butt' type='capsule' fromto='-.02 -.07 0 -.02 .07 0'  size='0.09' />
+                    <body name='right_thigh' pos='0 -0.1 -0.04' >
+                        <joint name='right_hip_x' type='hinge' pos='0 0 0' axis='1 0 0' range='-25 5'   damping='5' stiffness='10' armature='0.01' />
+                        <joint name='right_hip_z' type='hinge' pos='0 0 0' axis='0 0 1' range='-60 35'  damping='5' stiffness='10' armature='0.01' />
+                        <joint name='right_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-110 20' damping='5' stiffness='20' armature='0.0080' />
+                        <geom name='right_thigh1' type='capsule' fromto='0 0 0 0 0.01 -.34'  size='0.06' />
+                        <body name='right_shin' pos='0 0.01 -0.403' >
+                            <joint name='right_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' armature='0.0060' />
+                            <geom name='right_shin1' type='capsule' fromto='0 0 0 0 0 -.3'   size='0.049' />
+                            <body name='right_foot' pos='0 0 -.39' >
+                                <joint name='right_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0'   range='-50 50' stiffness='4' armature='0.0008' />
+                                <joint name='right_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1'  armature='0.0006' />
+                                <geom name='right_foot_cap1' type='capsule' fromto='-.07 -0.02 0 0.14 -0.04 0'  size='0.027' />
+                                <geom name='right_foot_cap2' type='capsule' fromto='-.07 0 0 0.14  0.02 0'  size='0.027' />
+                            </body>
+                        </body>
+                    </body>
+                    <body name='left_thigh' pos='0 0.1 -0.04' >
+                        <joint name='left_hip_x' type='hinge' pos='0 0 0' axis='-1 0 0' range='-25 5'  damping='5' stiffness='10' armature='0.01' />
+                        <joint name='left_hip_z' type='hinge' pos='0 0 0' axis='0 0 -1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
+                        <joint name='left_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
+                        <geom name='left_thigh1' type='capsule' fromto='0 0 0 0 -0.01 -.34'  size='0.06' />
+                        <body name='left_shin' pos='0 -0.01 -0.403' >
+                            <joint name='left_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
+                            <geom name='left_shin1' type='capsule' fromto='0 0 0 0 0 -.3'   size='0.049' />
+                            <body name='left_foot' pos='0 0 -.39' >
+                                <joint name='left_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0'   range='-50 50'  stiffness='4' armature='0.0008' />
+                                <joint name='left_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50'  stiffness='1'  armature='0.0006' />
+                                <geom name='left_foot_cap1' type='capsule' fromto='-.07 0.02 0 0.14 0.04 0'  size='0.027' />
+                                <geom name='left_foot_cap2' type='capsule' fromto='-.07 0 0 0.14  -0.02 0'  size='0.027' />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name='right_upper_arm' pos='0 -0.17 0.06' >
+                <joint name='right_shoulder1' type='hinge' pos='0 0 0' axis='2 1 1'  range='-85 60' stiffness='1' armature='0.0068' />
+                <joint name='right_shoulder2' type='hinge' pos='0 0 0' axis='0 -1 1' range='-85 60' stiffness='1'  armature='0.0051' />
+                <geom name='right_uarm1' type='capsule' fromto='0 0 0 .16 -.16 -.16'  size='0.04 0.16' />
+                <body name='right_lower_arm' pos='.18 -.18 -.18' >
+                    <joint name='right_elbow' type='hinge' pos='0 0 0' axis='0 -1 1' range='-90 50'  stiffness='0' armature='0.0028' />
+                    <geom name='right_larm' type='capsule' fromto='0.01 0.01 0.01 .17 .17 .17'  size='0.031' />
+                    <geom name='right_hand' type='sphere' pos='.18 .18 .18'  size='0.04'/>
+                </body>
+            </body>
+            <body name='left_upper_arm' pos='0 0.17 0.06' >
+                <joint name='left_shoulder1' type='hinge' pos='0 0 0' axis='2 -1 1' range='-60 85' stiffness='1' armature='0.0068' />
+                <joint name='left_shoulder2' type='hinge' pos='0 0 0' axis='0 1 1' range='-60 85'  stiffness='1' armature='0.0051' />
+                <geom name='left_uarm1' type='capsule' fromto='0 0 0 .16 .16 -.16'  size='0.04 0.16' />
+                <body name='left_lower_arm' pos='.18 .18 -.18' >
+                    <joint name='left_elbow' type='hinge' pos='0 0 0' axis='0 -1 -1' range='-90 50' stiffness='0' armature='0.0028' />
+                    <geom name='left_larm' type='capsule' fromto='0.01 -0.01 0.01 .17 -.17 .17'  size='0.031' />
+                    <geom name='left_hand' type='sphere' pos='.18 -.18 .18'  size='0.04'/>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+
+    <actuator>
+        <motor name='abdomen_y'       gear='200' joint='abdomen_y' />
+        <motor name='abdomen_z'       gear='200' joint='abdomen_z' />
+        <motor name='abdomen_x'       gear='200' joint='abdomen_x' />
+        <motor name='right_hip_x'     gear='200' joint='right_hip_x' />
+        <motor name='right_hip_z'     gear='200' joint='right_hip_z' />
+        <motor name='right_hip_y'     gear='600' joint='right_hip_y' />
+        <motor name='right_knee'      gear='400' joint='right_knee' />
+        <motor name='right_ankle_x'   gear='100' joint='right_ankle_x' />
+        <motor name='right_ankle_y'   gear='100' joint='right_ankle_y' />
+        <motor name='left_hip_x'      gear='200' joint='left_hip_x' />
+        <motor name='left_hip_z'      gear='200' joint='left_hip_z' />
+        <motor name='left_hip_y'      gear='600' joint='left_hip_y' />
+        <motor name='left_knee'       gear='400' joint='left_knee' />
+        <motor name='left_ankle_x'    gear='100' joint='left_ankle_x' />
+        <motor name='left_ankle_y'    gear='100' joint='left_ankle_y' />
+        <motor name='right_shoulder1' gear='100' joint='right_shoulder1' />
+        <motor name='right_shoulder2' gear='100' joint='right_shoulder2' />
+        <motor name='right_elbow'     gear='200' joint='right_elbow' />
+        <motor name='left_shoulder1'  gear='100' joint='left_shoulder1' />
+        <motor name='left_shoulder2'  gear='100' joint='left_shoulder2' />
+        <motor name='left_elbow'      gear='200' joint='left_elbow' />
+    </actuator>
+
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_fixed.xml

@@ -0,0 +1,115 @@
+<mujoco model="humanoid">
+    <compiler angle="degree" inertiafromgeom="true"/>
+    <default>
+        <joint armature="1" damping="1" limited="true"/>
+        <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
+        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+    </default>
+    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
+        <!-- <flags solverstat="enable" energy="enable"/>-->
+    </option>
+    <size nkey="5" nuser_geom="1"/>
+    <visual>
+        <map fogend="5" fogstart="3"/>
+    </visual>
+    <asset>
+        <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
+        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
+        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+        <material name="geom" texture="texgeom" texuniform="true"/>
+    </asset>
+    <worldbody>
+         <body name="torso" pos="0 0 1.4">
+            <joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="fixed"/>
+            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
+            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
+            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
+            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
+                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
+                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
+                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
+                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
+                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
+                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
+                    <body name="right_thigh" pos="0 -0.1 -0.04">
+                        <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
+                        <body name="right_shin" pos="0 0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
+                            <body name="right_foot" pos="0 0 -0.45">
+                                <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
+                            </body>
+                        </body>
+                    </body>
+                    <body name="left_thigh" pos="0 0.1 -0.04">
+                        <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
+                        <body name="left_shin" pos="0 -0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
+                            <body name="left_foot" pos="0 0 -0.45">
+                                <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name="right_upper_arm" pos="0 -0.17 0.06">
+                <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="right_lower_arm" pos=".18 -.18 -.18">
+                    <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
+                    <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+            <body name="left_upper_arm" pos="0 0.17 0.06">
+                <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="left_lower_arm" pos=".18 .18 -.18">
+                    <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
+                    <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <tendon>
+        <fixed name="left_hipknee">
+            <joint coef="-1" joint="left_hip_y"/>
+            <joint coef="1" joint="left_knee"/>
+        </fixed>
+        <fixed name="right_hipknee">
+            <joint coef="-1" joint="right_hip_y"/>
+            <joint coef="1" joint="right_knee"/>
+        </fixed>
+    </tendon>
+    <actuator><!-- this section is not supported, same constants in code -->
+        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
+        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
+        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
+        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
+        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
+        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
+        <motor gear="200" joint="right_knee" name="right_knee"/>
+        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
+        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
+        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
+        <motor gear="200" joint="left_knee" name="left_knee"/>
+        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
+        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
+        <motor gear="25" joint="right_elbow" name="right_elbow"/>
+        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
+        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
+        <motor gear="25" joint="left_elbow" name="left_elbow"/>
+    </actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric.xml

@@ -0,0 +1,107 @@
+<mujoco model="humanoid">
+    <compiler angle="degree" inertiafromgeom="true"/>
+    <default>
+        <joint armature="1" damping="1" limited="true"/>
+        <geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
+        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+    </default>
+    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
+        <!-- <flags solverstat="enable" energy="enable"/>-->
+    </option>
+    <size nkey="5" nuser_geom="1"/>
+    <visual>
+        <map fogend="5" fogstart="3"/>
+    </visual>
+    <worldbody>
+        <body name="torso" pos="0 0 1.4">
+            <!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
+            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
+            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
+            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
+            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
+                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
+                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
+                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
+                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
+                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
+                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
+                    <body name="right_thigh" pos="0 -0.1 -0.04">
+                        <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
+                        <body name="right_shin" pos="0 0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
+                            <body name="right_foot" pos="0 0 -0.45">
+                                <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
+                            </body>
+                        </body>
+                    </body>
+                    <body name="left_thigh" pos="0 0.1 -0.04">
+                        <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
+                        <body name="left_shin" pos="0 -0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
+                            <body name="left_foot" pos="0 0 -0.45">
+                                <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name="right_upper_arm" pos="0 -0.17 0.06">
+                <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="right_lower_arm" pos=".18 -.18 -.18">
+                    <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
+                    <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+            <body name="left_upper_arm" pos="0 0.17 0.06">
+                <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="left_lower_arm" pos=".18 .18 -.18">
+                    <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
+                    <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <tendon>
+        <fixed name="left_hipknee">
+            <joint coef="-1" joint="left_hip_y"/>
+            <joint coef="1" joint="left_knee"/>
+        </fixed>
+        <fixed name="right_hipknee">
+            <joint coef="-1" joint="right_hip_y"/>
+            <joint coef="1" joint="right_knee"/>
+        </fixed>
+    </tendon>
+    <actuator><!-- this section is not supported, same constants in code -->
+        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
+        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
+        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
+        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
+        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
+        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
+        <motor gear="200" joint="right_knee" name="right_knee"/>
+        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
+        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
+        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
+        <motor gear="200" joint="left_knee" name="left_knee"/>
+        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
+        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
+        <motor gear="25" joint="right_elbow" name="right_elbow"/>
+        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
+        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
+        <motor gear="25" joint="left_elbow" name="left_elbow"/>
+    </actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric_no_ground.xml

@@ -0,0 +1,115 @@
+<mujoco model="humanoid">
+    <compiler angle="degree" inertiafromgeom="true"/>
+    <default>
+        <joint armature="1" damping="1" limited="true"/>
+        <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
+        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+    </default>
+    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
+        <!-- <flags solverstat="enable" energy="enable"/>-->
+    </option>
+    <size nkey="5" nuser_geom="1"/>
+    <visual>
+        <map fogend="5" fogstart="3"/>
+    </visual>
+    <asset>
+        <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
+        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
+        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+        <material name="geom" texture="texgeom" texuniform="true"/>
+    </asset>
+    <worldbody>
+         <body name="torso" pos="0 0 1.4">
+            <!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
+            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
+            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
+            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
+            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
+                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
+                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
+                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
+                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
+                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
+                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
+                    <body name="right_thigh" pos="0 -0.1 -0.04">
+                        <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
+                        <body name="right_shin" pos="0 0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
+                            <body name="right_foot" pos="0 0 -0.45">
+                                <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
+                            </body>
+                        </body>
+                    </body>
+                    <body name="left_thigh" pos="0 0.1 -0.04">
+                        <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
+                        <body name="left_shin" pos="0 -0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
+                            <body name="left_foot" pos="0 0 -0.45">
+                                <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name="right_upper_arm" pos="0 -0.17 0.06">
+                <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="right_lower_arm" pos=".18 -.18 -.18">
+                    <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
+                    <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+            <body name="left_upper_arm" pos="0 0.17 0.06">
+                <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="left_lower_arm" pos=".18 .18 -.18">
+                    <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
+                    <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <tendon>
+        <fixed name="left_hipknee">
+            <joint coef="-1" joint="left_hip_y"/>
+            <joint coef="1" joint="left_knee"/>
+        </fixed>
+        <fixed name="right_hipknee">
+            <joint coef="-1" joint="right_hip_y"/>
+            <joint coef="1" joint="right_knee"/>
+        </fixed>
+    </tendon>
+    <actuator><!-- this section is not supported, same constants in code -->
+        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
+        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
+        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
+        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
+        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
+        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
+        <motor gear="200" joint="right_knee" name="right_knee"/>
+        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
+        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
+        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
+        <motor gear="200" joint="left_knee" name="left_knee"/>
+        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
+        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
+        <motor gear="25" joint="right_elbow" name="right_elbow"/>
+        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
+        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
+        <motor gear="25" joint="left_elbow" name="left_elbow"/>
+    </actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_double_pendulum.xml

@@ -0,0 +1,47 @@
+<!-- Cartpole Model
+
+    The state space is populated with joints in the order that they are
+    defined in this file. The actuators also operate on joints.
+
+    State-Space (name/joint/parameter):
+        - cart      slider      position (m)
+        - pole      hinge       angle (rad)
+        - cart      slider      velocity (m/s)
+        - pole      hinge       angular velocity (rad/s)
+
+    Actuators (name/actuator/parameter):
+        - cart      motor       force x (N)
+
+-->
+<mujoco model="cartpole">
+  <compiler coordinate="local" inertiafromgeom="true"/>
+  <custom>
+    <numeric data="2" name="frame_skip"/>
+  </custom>
+  <default>
+    <joint damping="0.05"/>
+    <geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
+  </default>
+  <option gravity="1e-5 0 -9.81" integrator="RK4" timestep="0.01"/>
+  <size nstack="3000"/>
+  <worldbody>
+    <geom name="floor" pos="0 0 -3.0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
+    <geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
+    <body name="cart" pos="0 0 0">
+      <joint axis="1 0 0" limited="true" margin="0.01" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
+      <geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
+      <body name="pole" pos="0 0 0">
+        <joint axis="0 1 0" name="hinge" pos="0 0 0" type="hinge"/>
+        <geom fromto="0 0 0 0 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
+        <body name="pole2" pos="0 0 0.6">
+          <joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
+          <geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
+          <!--site name="tip" pos="0 0 .6" size="0.01 0.01"/-->
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
+  </actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_pendulum.xml

@@ -0,0 +1,27 @@
+<mujoco model="inverted pendulum">
+	<compiler inertiafromgeom="true"/>
+	<default>
+		<joint armature="0" damping="1" limited="true"/>
+		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
+		<tendon/>
+		<motor ctrlrange="-3 3"/>
+	</default>
+	<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
+	<size nstack="3000"/>
+	<worldbody>
+		<!--geom name="ground" type="plane" pos="0 0 0" /-->
+		<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
+		<body name="cart" pos="0 0 0">
+			<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
+			<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
+			<body name="pole" pos="0 0 0">
+				<joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" range="-90 90" type="hinge"/>
+				<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
+				<!--                 <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
+			</body>
+		</body>
+	</worldbody>
+	<actuator>
+		<motor gear="100" joint="slider" name="slide"/>
+	</actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/pusher.xml

@@ -0,0 +1,90 @@
+<mujoco model="pusher">
+  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
+  <default>
+    <joint armature='0.04' damping="0" limited="true"/>
+    <geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
+  </default>
+  <option timestep="0.01" gravity="0 0 0" integrator="RK4" />  
+  <worldbody>
+    <!--Arena-->
+    <geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
+    <!--Arm-->
+    <body name="shoulder_pan_link" pos="0 -0.6 0">
+      <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
+      <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
+      <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
+      <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
+      <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
+      <joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
+
+      <body name="shoulder_lift_link" pos="0.1 0 0">
+        <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
+        <joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
+
+        <body name="upper_arm_roll_link" pos="0 0 0">
+          <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+          <joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
+
+          <body name="upper_arm_link" pos="0 0 0">
+            <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
+
+            <body name="elbow_flex_link" pos="0.4 0 0">
+              <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
+              <joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
+
+              <body name="forearm_roll_link" pos="0 0 0">
+                <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+                <joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
+
+                <body name="forearm_link" pos="0 0 0">
+                  <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
+
+                  <body name="wrist_flex_link" pos="0.321 0 0">
+                    <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
+                    <joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
+
+                    <body name="wrist_roll_link" pos="0 0 0">
+                      <joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
+                      <body name="fingertip" pos="0 0 0">
+                        <geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" />
+                        <geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" />
+                      </body>
+                      <geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
+                      <geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
+                      <geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <!--Object-->
+    <body name="object" pos="0.45 -0.05 -0.275" >
+      <geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/>
+      <geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/>
+      <joint name="object_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
+      <joint name="object_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
+    </body>
+    
+    <!--Target-->
+    <body name="target" pos="0.45 -0.05 -0.3230">
+      <geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
+      <joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
+      <joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/> 
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor joint="shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
+  </actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/reacher.xml

@@ -0,0 +1,39 @@
+<mujoco model="reacher">
+	<compiler angle="radian" inertiafromgeom="true"/>
+	<default>
+		<joint armature="1" damping="1" limited="true"/>
+		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
+	</default>
+	<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
+	<worldbody>
+		<!-- Arena -->
+		<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>
+		<geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
+		<geom conaffinity="0" fromto=" .3 -.3 .01 .3  .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
+		<geom conaffinity="0" fromto="-.3  .3 .01 .3  .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
+		<geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
+		<!-- Arm -->
+		<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
+		<body name="body0" pos="0 0 .01">
+			<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
+			<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
+			<body name="body1" pos="0.1 0 0">
+				<joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
+				<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
+				<body name="fingertip" pos="0.11 0 0">
+					<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
+				</body>
+			</body>
+		</body>
+		<!-- Target -->
+		<body name="target" pos="0 0 .01">
+			<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
+			<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
+			<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
+		</body>
+	</worldbody>
+	<actuator>
+		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
+		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
+	</actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/striker.xml

@@ -0,0 +1,100 @@
+<mujoco model="striker">
+  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
+  <option timestep="0.01" gravity="0 0 0" integrator="RK4"/>
+
+  <default>
+	<joint armature='0.04' damping="0" limited="true"/>
+	<geom friction=".0 .0 .0" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
+  </default>
+
+  <worldbody>
+	<!--Arena-->
+	<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
+	<!--Arm-->
+	<body name="shoulder_pan_link" pos="0 -0.6 0">
+	  <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
+	  <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
+	  <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
+	  <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
+	  <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
+	  <joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
+
+	  <body name="shoulder_lift_link" pos="0.1 0 0">
+		<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
+		<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
+
+		<body name="upper_arm_roll_link" pos="0 0 0">
+		  <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+		  <joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
+
+		  <body name="upper_arm_link" pos="0 0 0">
+			<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
+
+			<body name="elbow_flex_link" pos="0.4 0 0">
+			  <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
+			  <joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
+
+			  <body name="forearm_roll_link" pos="0 0 0">
+				<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+				<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
+
+				<body name="forearm_link" pos="0 0 0">
+				  <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
+
+				  <body name="wrist_flex_link" pos="0.321 0 0">
+					<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
+					<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
+
+					<body name="wrist_roll_link" pos="0 0 0">
+					  <joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
+					  <body name="fingertip" pos="0 0 0">
+						<geom name="tip_arml" type="box" pos="0.017 0 0" size="0.003 0.12 0.05" conaffinity="1" contype="1"  />
+					  </body>
+					  <geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" conaffinity="1" contype="1"  />
+					</body>
+				  </body>
+				</body>
+			  </body>
+			</body>
+		  </body>
+		</body>
+	  </body>
+	</body>
+
+	<!--Object-->
+	<body name="object" pos="0 0 -0.270" >
+	  <geom type="sphere" rgba="1 1 1 1" pos="0 0 0" size="0.05 0.05 0.05" contype="1" conaffinity="0"/>
+	  <joint name="object_x" armature="0.1" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
+	  <joint name="object_y" armature="0.1" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
+	</body>
+
+	<!--Target-->
+	<body name="target" pos="0.0 0.0 -0.3230">
+	  <geom rgba="1. 1. 1. 0" pos="0 0 0" type="box" size="0.01 0.01 0.01" contype="0" conaffinity="0"/>
+	  <body pos="0 0 0">
+		<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
+	  </body>
+	  <body name="coaster" pos="0 0 0">
+		<geom rgba="1. 1. 1. 1" type="cylinder" size="0.08 0.001 0.1" density='1000000' contype="0" conaffinity="0"/>
+	  </body>
+	  <body pos="0 0 0" axisangle="0 0 1 0.785">
+		<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
+	  </body>
+	  <body pos="0 0 0" axisangle="0 0 1 -0.785">
+		<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
+	  </body>
+	  <joint name="target_free" type="free" pos="0 0 0" limited="false" damping="0"/>
+	</body>
+  </worldbody>
+
+  <actuator>
+	<motor joint="shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
+  </actuator>
+
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/swimmer.xml

@@ -0,0 +1,38 @@
+<mujoco model="swimmer">
+  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
+  <option collision="predefined" density="4000" integrator="RK4" timestep="0.01" viscosity="0.1"/>
+  <default>
+    <geom conaffinity="1" condim="1" contype="1" material="geom" rgba="0.8 0.6 .4 1"/>
+    <joint armature='0.1'  />
+  </default>
+  <asset>
+    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
+    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
+    <material name="geom" texture="texgeom" texuniform="true"/>
+  </asset>
+  <worldbody>
+    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
+    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 -0.1" rgba="0.8 0.9 0.8 1" size="40 40 0.1" type="plane"/>
+    <!--  ================= SWIMMER ================= /-->
+    <body name="torso" pos="0 0 0">
+      <geom density="1000" fromto="1.5 0 0 0.5 0 0" size="0.1" type="capsule"/>
+      <joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"/>
+      <joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"/>
+      <joint axis="0 0 1" name="rot" pos="0 0 0" type="hinge"/>
+      <body name="mid" pos="0.5 0 0">
+        <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
+        <joint axis="0 0 1" limited="true" name="rot2" pos="0 0 0" range="-100 100" type="hinge"/>
+        <body name="back" pos="-1 0 0">
+          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
+          <joint axis="0 0 1" limited="true" name="rot3" pos="0 0 0" range="-100 100" type="hinge"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot2"/>
+    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot3"/>
+  </actuator>
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/thrower.xml

@@ -0,0 +1,127 @@
+<mujoco model="thrower">
+  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
+  <default>
+	<joint armature='0.75' damping="0" limited="true"/>
+	<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
+  </default>
+
+  <worldbody>
+	<!--Arena-->
+	<geom type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
+	<!--Arm-->
+	<body name="shoulder_pan_link" pos="0 -0.6 0">
+	  <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" density="0.0001"/>
+	  <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" density="0.0001"/>
+	  <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" density="0.0001"/>
+	  <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" density="0.0001"/>
+	  <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" density="1"/>
+	  <joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4854 1.214602" damping="1.0"/>
+
+	  <body name="shoulder_lift_link" pos="0.1 0 0">
+		<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" density="0.0001"/>
+		<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 0.7963" damping="1.0"/>
+
+		<body name="upper_arm_roll_link" pos="0 0 0">
+		  <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
+		  <joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="1.0"/>
+
+		  <body name="upper_arm_link" pos="0 0 0">
+			<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" density="0.0001"/>
+
+			<body name="elbow_flex_link" pos="0.4 0 0">
+			  <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" density="0.0001"/>
+			  <joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.7 0.7" damping="1.0"/>
+
+			  <body name="forearm_roll_link" pos="0 0 0">
+				<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
+				<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="1.0" range="-1.5 1.5"/>
+
+				<body name="forearm_link" pos="0 0 0" axisangle="1 0 0 0.392">
+				  <geom name="fa" type="capsule" fromto="0 0 0 0 0 0.291" size="0.05" density="0.0001"/>
+
+				  <body name="wrist_flex_link" pos="0 0 0.321" axisangle="0 0 1 1.57">
+					<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" density="0.0001"/>
+					<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" damping="1.0" />
+
+					<body name="wrist_roll_link" pos="0 0 0" axisangle="0 1 0 -1.178">
+					  <joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="0 1 0" damping="1.0" range="0 2.25"/>
+					  <geom type="capsule" fromto="0 -0.05 0 0 0.05 0" size="0.01" contype="1" conaffinity="1" density="0.0001"/>
+					  <body name="fingertip" pos="0 0 0" axisangle="0 0 1 0.392">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density=".0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 1.57">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 1.178">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 0.785">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 1.96">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 2.355">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 2.74">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					</body>
+				  </body>
+				</body>
+			  </body>
+			</body>
+		  </body>
+		</body>
+	  </body>
+	</body>
+
+	<!--Object-->
+	<body name="object" pos="0.5 -0.8 0.275">
+	  <geom rgba="1. 1. 1. 1" type="sphere" size="0.03 0.03 0.1" density='25' contype="1" conaffinity="1"/>
+	  <joint name="object_free" type="free" armature='0' damping="0" limited="false"/>
+	</body>
+
+	<!--Target-->
+	<body name="target" pos="0.575 0.5 -0.328">
+	  <geom rgba="1 1 1 1" type="box" pos="0 0 0.005" size="0.075 0.075 0.001" contype="1" conaffinity="1" density="1000"/>
+	  <geom rgba="1 1 1 1" type="box" pos="0.0 0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="box" pos="0.0 -0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="box" pos="0.075 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="box" pos="-0.076 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="capsule" fromto="0.073 0.073 0.0075 0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="capsule" fromto="0.073 -0.073 0.0075 0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 0.073 0.0075 -0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 -0.073 0.0075 -0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+	  <joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
+	  <joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
+	</body>
+
+  </worldbody>
+
+  <actuator>
+	<motor joint="shoulder_pan_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+	<motor joint="shoulder_lift_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+	<motor joint="upper_arm_roll_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+	<motor joint="elbow_flex_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+	<motor joint="forearm_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
+	<motor joint="wrist_flex_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
+	<motor joint="wrist_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true"/>
+  </actuator>
+
+</mujoco>

examples/pybullet/gym/pybullet_envs/data/mjcf/walker2d.xml

@@ -0,0 +1,52 @@
+<mujoco model="walker2d">
+  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
+  <default>
+    <joint armature="0.01" damping=".1" limited="true"/>
+    <geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
+  </default>
+  <option integrator="RK4" timestep="0.002"/>
+  <worldbody>
+    <!-- CHANGES: see hopper.xml -->
+    <body name="torso">
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
+      <geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
+      <body name="thigh">
+        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
+        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
+        <body name="leg">
+          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
+          <geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
+          <body name="foot">
+            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
+            <geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
+          </body>
+        </body>
+      </body>
+      <!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
+      <body name="thigh_left">
+        <joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
+        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
+        <body name="leg_left">
+          <joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
+          <geom fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
+          <body name="foot_left">
+            <joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
+            <geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
+    <!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
+  </actuator>
+</mujoco>

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
+  
+  

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

examples/pybullet/gym/pybullet_envs/data/plane.urdf

@@ -0,0 +1,29 @@
+<?xml version="0.0" ?>
+<robot name="plane">
+  <link name="planeLink">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -5"/>
+      <geometry>
+	 	<box size="30 30 10"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

examples/pybullet/gym/pybullet_envs/data/roboschool/models_outdoor/stadium/stadium.mtl

@@ -0,0 +1,16 @@
+newmtl stadium_white
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+
+newmtl stadium_grass
+Ka 0.000000 0.000000 0.000000
+Kd 0.000000 0.500000 0.000000
+Ks 0.000000 0.000000 0.000000
+map_Kd stadium_grass.jpg
+
+newmtl stadium_dirt
+Ka 0.000000 0.000000 0.000000
+Kd 0.600000 0.400000 0.000000
+Ks 0.000000 0.000000 0.000000

examples/pybullet/gym/pybullet_envs/data/stadium.sdf

@@ -0,0 +1,107 @@
+<sdf version='1.6'>
+	<world name='default'>
+	<gravity>0 0 -9.8</gravity>
+		<model name='roboschool/models_outdoor/stadium/part0.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d0'>
+			<inertial>
+			<mass>0</mass>
+			<inertia>
+			<ixx>0.166667</ixx>
+			<ixy>0</ixy>
+			<ixz>0</ixz>
+			<iyy>0.166667</iyy>
+			<iyz>0</iyz>
+			<izz>0.166667</izz>
+			</inertia>
+			</inertial>
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part0.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 1 1 1</ambient>
+				<diffuse>1.00000 1.00000 1.000000 1</diffuse>
+				<specular>0.1 .1 .1 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+		<model name='roboschool/models_outdoor/stadium/part1.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d1'>
+			<inertial>
+			<mass>0</mass>
+			<inertia>
+			<ixx>0.166667</ixx>
+			<ixy>0</ixy>
+			<ixz>0</ixz>
+			<iyy>0.166667</iyy>
+			<iyz>0</iyz>
+			<izz>0.166667</izz>
+			</inertia>
+			</inertial>
+			<collision name='collision_1'>
+			<geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+			  </collision>
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part1.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 1 1 1</ambient>
+				<diffuse>0.600000 0.400000 0.000000 1</diffuse>
+				<specular>.5 .5 .5 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+		<model name='part2.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d2'>
+			<inertial>
+			<mass>0</mass>
+			<inertia>
+			<ixx>0.166667</ixx>
+			<ixy>0</ixy>
+			<ixz>0</ixz>
+			<iyy>0.166667</iyy>
+			<iyz>0</iyz>
+			<izz>0.166667</izz>
+			</inertia>
+			</inertial>
+			
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part2.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 0 0 1</ambient>
+				<diffuse>0.000000 0.500000 0.000000 1</diffuse>
+				<specular>0.4 0.4 0.4 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+	</world>
+</sdf>

examples/pybullet/gym/pybullet_envs/data/table/table.mtl

@@ -0,0 +1,16 @@
+newmtl table
+  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 table.tga
+  map_Kd table.png
+  
+  
+

examples/pybullet/gym/pybullet_envs/data/table/table.obj

@@ -0,0 +1,48 @@
+# table.obj
+#
+
+o table
+mtllib table.mtl
+
+v -0.500000 -0.500000 0.500000
+v 0.500000 -0.500000 0.500000
+v -0.500000 0.500000 0.500000
+v 0.500000 0.500000 0.500000
+v -0.500000 0.500000 -0.500000
+v 0.500000 0.500000 -0.500000
+v -0.500000 -0.500000 -0.500000
+v 0.500000 -0.500000 -0.500000
+
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 0.000000 1.000000
+vt 1.000000 1.000000
+
+vn 0.000000 0.000000 1.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 -1.000000 0.000000
+vn 1.000000 0.000000 0.000000
+vn -1.000000 0.000000 0.000000
+
+g table
+usemtl table
+s 1
+f 1/1/1 2/2/1 3/3/1
+f 3/3/1 2/2/1 4/4/1
+s 2
+f 3/1/2 4/2/2 5/3/2
+f 5/3/2 4/2/2 6/4/2
+s 3
+f 5/4/3 6/3/3 7/2/3
+f 7/2/3 6/3/3 8/1/3
+s 4
+f 7/1/4 8/2/4 1/3/4
+f 1/3/4 8/2/4 2/4/4
+s 5
+f 2/1/5 8/2/5 4/3/5
+f 4/3/5 8/2/5 6/4/5
+s 6
+f 7/1/6 1/2/6 5/3/6
+f 5/3/6 1/2/6 3/4/6
+

examples/pybullet/gym/pybullet_envs/data/table/table.urdf

@@ -0,0 +1,56 @@
+<?xml version="0.0" ?>
+<robot name="table.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+      <geometry>
+				<mesh filename="table.obj" scale="1.5 1 0.05"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+      <geometry>
+	 	<box size="1.5 1 0.05"/>
+      </geometry>
+    </collision>
+	<visual>
+      <origin rpy="0 0 0" xyz="-0.65 -0.4 0.29"/>
+      <geometry>
+	    <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+	  <material name="framemat0"/>	 
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.65 0.4 0.29"/>
+      <geometry>
+        <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+	  <material name="framemat0"/>
+	  </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.65 -0.4 0.29"/>
+      <geometry>
+        <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+	  <material name="framemat0"/>
+	  </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.65 0.4 0.29"/>
+      <geometry>
+        <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>
+

examples/pybullet/gym/pybullet_envs/data/tray/tray.urdf

@@ -0,0 +1,30 @@
+<robot name="tray">
+  <link name="tray_base_link">
+    <contact>
+      <lateral_friction value="0.5"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="tray_textured4.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+      <material name="tray_material">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="tray_textured4.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

examples/pybullet/gym/pybullet_envs/data/tray/tray_textured.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd tray.jpg

examples/pybullet/gym/pybullet_envs/data/tray/tray_textured.obj

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+# Blender v2.78 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib tray_textured.mtl
+o edge_4_Cube.001
+v -0.573309 0.580000 0.261247
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+vn -0.5446 -0.0000 0.8387
+vn 0.8391 0.0003 0.5440
+vn -0.8397 -0.0003 -0.5430
+usemtl None
+s 1
+f 1/1/1 2/2/1 3/3/1
+f 4/4/2 5/5/3 1/1/4
+f 6/6/5 7/7/5 4/4/5
+f 3/3/6 8/8/7 6/6/8
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+f 1/1/1 5/5/1 2/2/1
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+f 3/3/6 2/2/12 8/8/7
+f 5/5/9 7/7/9 8/8/9
+f 4/4/10 1/1/10 3/3/10
+o edge_1_Cube.003
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+vn 0.0000 0.5446 0.8387
+vn 0.0005 0.8383 -0.5452
+vn -0.0005 -0.8394 0.5435
+usemtl None
+s 1
+f 9/9/13 10/10/14 11/11/15
+f 12/12/16 13/13/16 9/9/16
+f 14/14/17 15/15/18 12/12/19
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+f 11/11/20 10/10/20 16/16/20
+f 13/13/21 15/15/21 16/16/21
+f 12/12/22 9/9/22 11/11/22
+o edge_2_Cube
+v 0.590083 0.580000 0.250354
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+v 0.590083 -0.580000 0.250354
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+usemtl None
+s 1
+f 17/17/25 18/18/25 19/19/25
+f 20/20/26 21/21/27 17/17/28
+f 22/22/29 23/23/29 20/20/29
+f 19/19/30 24/24/31 22/22/32
+f 21/21/33 24/24/33 18/18/33
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+f 19/19/30 18/18/36 24/24/31
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+f 20/20/34 17/17/34 19/19/34
+o base_Cube.004
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+vn 0.0000 1.0000 0.0000
+vn 1.0000 -0.0000 0.0000
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+vn -1.0000 -0.0000 0.0000
+vn 0.0000 0.0000 -1.0000
+vn 0.0000 -0.0000 1.0000
+usemtl None
+s 1
+f 25/25/37 26/26/37 27/27/37
+f 28/28/38 29/29/38 25/25/38
+f 30/30/39 31/31/39 28/28/39
+f 27/27/40 32/32/40 30/30/40
+f 29/29/41 32/32/41 26/26/41
+f 28/28/42 27/27/42 30/30/42
+f 25/25/37 29/29/37 26/26/37
+f 28/28/38 31/31/38 29/29/38
+f 30/30/39 32/32/39 31/31/39
+f 27/27/40 26/26/40 32/32/40
+f 29/29/41 31/31/41 32/32/41
+f 28/28/42 25/25/42 27/27/42
+o edge_3_Cube.002
+v 0.580000 -0.573309 0.261247
+v -0.419400 -0.409917 0.008678
+v -0.580000 -0.573309 0.261247
+v 0.580000 -0.590083 0.250354
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+vn 0.0000 -0.5446 0.8387
+vn -0.0003 0.8391 0.5440
+vn 0.0003 -0.8397 -0.5430
+usemtl None
+s 1
+f 33/33/43 34/34/44 35/35/45
+f 36/36/46 37/37/46 33/33/46
+f 38/38/47 39/39/48 36/36/49
+f 35/35/50 40/40/51 38/38/51
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+f 35/35/50 34/34/51 40/40/51
+f 37/37/52 39/39/52 40/40/52
+f 36/36/53 33/33/53 35/35/53

examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.mtl

@@ -0,0 +1,13 @@
+# Blender MTL File: 'tray_textured2.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd tray.jpg