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Add nearly all gym environments using pybullet together with the latest tf model from the roboschool model zoo.

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Benjamin Ellenberger
2017-07-14 23:38:15 +02:00
parent 40dae99435
commit a6aade2e21
35 changed files with 82536 additions and 0 deletions
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examples/pybullet/gym/enjoy_TF_PybulletAnt_v0_2017may.py Normal file
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import gym
import numpy as np
import pybullet as p
import pybulletgym.envs
import time
def relu(x):
return np.maximum(x, 0)
class SmallReactivePolicy:
"Simple multi-layer perceptron policy, no internal state"
def __init__(self, observation_space, action_space):
assert weights_dense1_w.shape == (observation_space.shape[0], 128)
assert weights_dense2_w.shape == (128, 64)
assert weights_final_w.shape == (64, action_space.shape[0])
def act(self, ob):
x = ob
x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
x = np.dot(x, weights_final_w) + weights_final_b
return x
def demo_run():
env = gym.make("PybulletAnt-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:
frame = 0
score = 0
restart_delay = 0
obs = env.reset()
while 1:
time.sleep(0.01)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
still_open = env.render("human")
if still_open==False:
return
if not done: continue
if restart_delay==0:
print("score=%0.2f in %i frames" % (score, frame))
restart_delay = 60*2 # 2 sec at 60 fps
else:
restart_delay -= 1
if restart_delay==0: break
weights_dense1_w = np.array([
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[ +0.2797, -0.2386, -0.0121, +0.2439, -0.0317, -0.0390, +0.0581, -0.8813, -0.5392, -0.2527, -0.4720, +0.4787, +0.3710, +0.0434, +0.0702, -1.0678, -0.0195, -0.6846, -0.7418, +0.0543, -0.3187, -0.1510, -0.3590, -0.0902, +0.2195, +0.0943, -0.0384, -0.7203, +0.0316, -0.0647, +0.1894, +0.2490, -1.3374, +0.3883, +0.1207, +0.4036, +0.3255, +0.3757, +0.2444, +0.2612, -1.5274, +0.1092, +0.5718, -0.1929, -0.1531, -0.2330, +0.0539, +0.2055, -0.8240, +0.1292, -0.4835, +0.5281, +0.1944, -0.3389, -0.3689, +0.4941, +0.0330, +0.0938, +0.4999, -0.2465, -0.2547, +0.3286, -0.2172, +0.4791],
[ +0.4580, +0.6728, +0.1603, -0.5751, -0.8616, +0.0422, -0.3104, -0.2042, +0.4133, +0.3150, -0.8036, -0.5332, +0.5432, +0.2999, +0.1480, -0.2845, -0.9013, -0.0924, -0.6048, -0.1631, -0.1127, -0.3833, -0.5830, -1.1764, -1.2800, -0.0174, -0.2561, +0.1081, +0.3352, +0.1175, +0.3419, +0.7590, +0.4220, -0.8411, +0.0312, +0.3287, +0.2295, -0.0867, -0.6239, +0.0633, +0.3005, -0.0838, -0.4589, -0.2385, +0.2734, -0.2946, -0.2759, -0.4446, +0.0052, -0.3499, -0.3503, +0.1211, -0.1839, -0.2803, +0.0158, +0.2441, +0.4413, -0.4929, +0.3714, +0.5445, -0.0731, -0.3297, -0.5428, +0.4811],
[ -0.3528, +0.2554, +0.1195, +0.2853, -0.0731, -0.0237, -0.0755, +0.3719, -0.5900, +0.3071, +0.1961, -0.3822, -0.3113, +0.3011, +0.1113, -0.1598, -0.0299, +0.6281, +0.1811, +0.1312, +0.1971, -0.4736, +0.7463, -0.0154, +0.4255, -0.3671, +0.3200, -0.1815, -0.4259, +0.1115, +0.4232, -0.3993, +0.0706, -0.1901, +0.1188, -0.6964, -0.5131, -0.5996, -0.0103, +0.1504, +0.0713, -0.0430, -0.8008, +0.1890, -0.2637, +0.1984, +0.0119, +0.1025, -0.9490, -0.0255, +0.2795, +0.2354, -0.1830, +0.1894, -0.1928, -0.8840, +0.3929, +0.1748, +0.1588, +0.4326, -0.0759, +0.1664, +0.2102, -0.3707],
[ +0.0479, -0.0155, -0.3830, +0.0390, -0.0793, -0.1159, -0.0263, -0.3720, -0.9581, +0.2546, -0.4353, +0.2756, -0.0628, +0.0360, +0.1591, -0.7122, +0.1463, -0.1078, -0.5880, +0.1476, -0.0437, -0.6911, -0.0355, +0.2766, -0.3426, +0.2286, -0.2323, -0.2819, -0.0887, +0.5000, -0.0338, -0.1563, -0.0168, +0.0500, -0.1077, +0.4968, -1.1365, +0.1814, -0.1388, -0.1080, +0.0761, -0.4107, +0.3764, +0.3308, +0.0905, -0.2821, -0.2366, -0.2618, +0.2762, -0.2521, +0.1400, -0.1133, +0.0411, -0.0475, -0.4804, +0.4348, -0.1652, +0.0103, +0.2100, -0.3716, +0.1860, -0.3946, -0.1734, +0.2052],
[ -0.0266, -0.2590, -0.1527, +0.2632, -0.1506, -0.0040, -0.3828, -0.7623, -0.1620, -0.1641, +0.0927, +0.1030, -0.1890, +0.2110, +0.1634, -1.4356, +0.1170, -0.7333, -0.3429, -0.3402, +0.5740, +0.2288, +0.0264, -0.0770, +0.0611, +0.2538, +0.5611, -0.0635, -0.0885, -0.0698, +0.2153, +0.0752, -0.2368, +0.2113, -0.8473, -0.7176, -0.3615, -0.2906, +0.0310, +0.0041, -0.3076, +0.1850, +0.0959, -0.1510, +0.1042, +0.0781, +0.1000, -0.0701, -0.0252, +0.6513, +0.1680, +0.3624, -0.5958, -0.6897, +0.1336, -0.0600, +0.0437, -0.2525, +0.1216, -0.2053, +0.0452, +0.8903, -0.0487, -0.0072]
])
weights_dense2_b = np.array([ +0.2226, +0.0124, +0.0027, +0.2335, +0.0952, +0.0250, +0.1087, +0.1225, +0.0476, +0.1535, +0.0940, +0.0421, +0.0967, +0.0431, -0.2867, -0.1520, -0.0796, +0.0041, +0.0599, +0.0139, -0.0608, -0.0695, +0.0222, +0.0420, -0.0988, +0.0851, +0.2547, +0.0361, +0.0341, +0.0986, +0.1827, -0.1344, +0.1575, +0.0374, +0.0497, -0.1436, +0.1622, +0.2187, +0.0257, +0.0680, -0.0228, +0.0215, +0.1596, -0.0594, -0.0886, -0.0006, -0.0940, +0.1568, +0.0610, +0.1915, +0.1162, +0.0765, -0.1731, -0.0258, +0.0896, -0.2285, +0.0948, +0.0286, +0.1174, +0.0382, +0.2536, +0.3435, +0.0281, +0.2328])
weights_final_w = np.array([
[ -0.0133, +0.0628, -0.6441, +0.2383, +0.4270, +0.1927, -0.3628, +0.3698],
[ -0.0089, +0.0614, +0.0522, -0.3912, -0.1872, -0.7369, +0.0852, -0.1505],
[ +0.2779, +0.7024, -0.3493, -0.2124, -0.0220, +0.0741, +0.0670, -0.1029],
[ -0.0519, +0.2775, -0.3879, -0.0335, +0.1150, +0.0789, -0.1963, +0.1992],
[ +0.0241, +0.2946, +0.2777, -0.2040, +0.4150, +0.0810, -0.0170, -0.0202],
[ -0.2781, +0.0243, -0.0485, +0.1249, -0.0354, -0.0327, +0.2284, -0.3674],
[ -0.1843, +0.1452, -0.0728, +0.2894, +0.1892, +0.0013, +0.1527, -0.3815],
[ +0.4556, -0.1760, +0.0188, -0.2475, -0.3291, -0.3527, -0.6556, -0.5543],
[ +0.0309, +0.3396, +0.0626, -0.0045, +0.2597, -0.2234, +0.3634, -0.1476],
[ -0.3221, +0.4484, +0.0538, +0.2543, -0.3213, +0.4323, -0.2503, +0.0654],
[ +0.5351, -0.2229, -0.1097, +0.1062, -0.5535, +0.4454, +0.1802, +0.1971],
[ +0.1813, +0.0778, +0.1647, -0.1118, +0.4696, -0.3322, -0.2033, -0.0201],
[ +0.1423, +0.2278, +0.0263, +0.1439, +0.0134, -0.5282, +0.1236, -0.0416],
[ +0.1217, +0.1197, -0.5194, +0.4029, -0.1307, -0.4352, -0.0514, -0.2256],
[ +0.1484, +0.0685, +0.4156, +0.1887, -0.7306, +0.1027, -0.4018, +0.0134],
[ +0.2326, +0.0218, +0.0390, +0.0010, -0.5719, +0.0264, -0.4600, -0.3220],
[ -0.0586, -0.3066, +0.2050, +0.1253, +0.4542, +0.1711, -0.6051, +0.0061],
[ +0.0108, -0.5588, -0.3976, +0.3375, +0.3065, +0.2118, -0.4879, +0.1444],
[ -0.1443, -0.2895, -0.3992, +0.0409, +0.3109, -0.0295, -0.2016, -0.3679],
[ -0.2630, +0.2348, +0.2592, +0.1778, -0.1501, -0.2856, +0.3477, +0.1416],
[ -0.3078, -0.3138, +0.2040, -0.3254, +0.2891, +0.0228, -0.3580, +0.2438],
[ -0.0035, -0.1374, +0.9035, +0.1420, +0.1437, -0.1159, -0.1822, +0.2037],
[ +0.2533, -0.0089, -0.1549, +0.1085, -0.5376, -0.0639, +0.3232, +0.0673],
[ -0.1033, +0.2733, +0.1426, +0.4075, -0.1140, +0.1152, +0.2189, +0.7337],
[ +0.0682, -0.1010, +0.2224, +0.4526, +0.0599, +0.1290, -0.5523, +0.0333],
[ +0.1089, -0.1139, -0.0310, -0.2661, +0.0781, -0.1955, -0.2610, +0.1017],
[ +0.0011, +0.4399, -0.2365, -0.1523, -0.1508, +0.2314, +0.1414, +0.1116],
[ +0.0014, -0.0973, +0.6542, -0.0039, -0.2656, -0.1597, +0.0158, -0.0201],
[ -0.1700, +0.0102, +0.1321, -0.1934, -0.2208, +0.0057, +0.1504, +0.3798],
[ +0.1586, +0.0557, +0.1042, -0.4201, +0.0613, -0.0152, -0.3855, +0.1035],
[ -0.0969, -0.0936, +0.1289, -0.4031, +0.1148, +0.3258, +0.2017, -0.2499],
[ +0.5422, -0.3985, -0.0758, -0.0241, +0.1124, +0.0043, -0.0495, -0.1127],
[ +0.1679, -0.1337, -0.2102, -0.0678, +0.0768, -0.5881, +0.0327, -0.1429],
[ +0.2756, -0.1772, -0.3729, -0.0931, +0.6402, -0.0739, -0.1221, +0.5423],
[ -0.2310, -0.6409, -0.0729, -0.2143, +0.0735, -0.3279, -0.1317, -0.2060],
[ -0.0864, +0.0344, -0.5635, +0.3137, -0.0566, -0.3874, -0.0119, +0.0187],
[ +0.4066, +0.1192, +0.2065, +0.0546, +0.2182, +0.6743, +0.2802, -0.0638],
[ +0.2526, +0.6688, -0.0943, -0.2531, +0.1259, +0.1115, +0.0581, -0.0340],
[ +0.1820, +0.2927, -0.2457, +0.0310, -0.3335, -0.5889, +0.0088, +0.3045],
[ +0.0072, -0.0702, +0.1246, +0.0875, +0.0488, +0.2379, -0.1760, -0.5422],
[ +0.1416, +0.1796, -0.7311, +0.0016, -0.4996, +0.0724, -0.4854, +0.2310],
[ -0.5525, +0.1246, +0.8667, +0.3521, -0.7227, +0.4473, +0.0805, -0.1707],
[ -0.3557, +0.0798, +0.5322, -0.0827, +0.1836, +0.2784, -0.1676, -0.1012],
[ -0.6738, +0.5545, -0.3111, +0.2171, -0.3377, -0.2039, -0.1205, +0.1212],
[ -0.2249, -0.1037, -0.4715, -0.3616, +0.2250, +0.0999, +0.4772, -0.0679],
[ -0.4895, -0.2557, +0.0892, -0.0000, -0.4443, +0.2913, -0.0450, -0.3303],
[ -0.2729, +0.0973, +0.2516, -0.4313, -0.1743, -0.2386, -0.1142, -0.0440],
[ -0.6820, +0.2449, -0.1079, +0.3047, +0.0325, -0.0980, +0.1868, -0.1600],
[ -0.2085, -0.2897, -0.4539, -0.0506, +0.1225, +0.1976, -0.2360, +0.6553],
[ +0.5299, +0.2876, +0.2354, -0.0884, -0.1821, +0.3841, -0.0701, +0.0278],
[ -0.1594, -0.4837, +0.1483, -0.1280, +0.0962, -0.1932, +0.1730, +0.0544],
[ +0.2879, -0.1846, +0.1474, -0.3383, +0.1483, +0.1159, +0.3761, +0.2326],
[ -0.0960, -0.0727, -0.3099, +0.0548, +0.2339, -0.2232, +0.6066, +0.3826],
[ -0.0171, +0.1490, -0.3324, -0.0231, +0.0700, -0.6364, -0.1944, +0.3094],
[ +0.0804, -0.0278, +0.0182, -0.3807, -0.3628, -0.3564, +0.2279, -0.0226],
[ +0.4219, +0.0741, +0.1299, +0.4700, +0.1927, +0.0849, -0.1574, +0.5607],
[ +0.0810, -0.0815, +0.1356, +0.2048, -0.1404, -0.0222, -0.2464, +0.4991],
[ +0.3000, +0.0862, -0.3917, +0.4117, +0.0306, +0.0788, -0.0403, -0.6423],
[ -0.2445, +0.4847, +0.0478, -0.2170, -0.3700, +0.0189, +0.0001, -0.0335],
[ +0.3710, -0.0115, -0.4207, -0.4245, +0.2041, -0.0875, -0.2369, -0.6424],
[ -0.3608, +0.0539, -0.3928, -0.0352, +0.2832, +0.1003, -0.0082, +0.3201],
[ +0.2221, -0.0399, +0.2092, -0.1670, -0.5146, +0.2273, +0.3011, -0.2879],
[ +0.1500, +0.3236, +0.1295, -0.0763, -0.2708, +0.6542, +0.1379, -0.0646],
[ +0.1291, +0.0417, +0.1386, +0.0166, +0.1373, +0.1956, +0.4986, +0.5690]
])
weights_final_b = np.array([ -0.0680, +0.1401, -0.0628, -0.1317, +0.1489, +0.1844, -0.1147, +0.0137])
if __name__=="__main__":
demo_run()

290
examples/pybullet/gym/enjoy_TF_PybulletHalfCheetah_v0_2017may.py Normal file
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import gym
import numpy as np
import pybullet as p
import pybulletgym.envs
import time
def relu(x):
return np.maximum(x, 0)
class SmallReactivePolicy:
"Simple multi-layer perceptron policy, no internal state"
def __init__(self, observation_space, action_space):
assert weights_dense1_w.shape == (observation_space.shape[0], 128)
assert weights_dense2_w.shape == (128, 64)
assert weights_final_w.shape == (64, action_space.shape[0])
def act(self, ob):
x = ob
x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
x = np.dot(x, weights_final_w) + weights_final_b
return x
def demo_run():
env = gym.make("PybulletHalfCheetah-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:
frame = 0
score = 0
restart_delay = 0
obs = env.reset()
while 1:
time.sleep(0.01)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
still_open = env.render("human")
if still_open==False:
return
if not done: continue
if restart_delay==0:
print("score=%0.2f in %i frames" % (score, frame))
restart_delay = 60*2 # 2 sec at 60 fps
else:
restart_delay -= 1
if restart_delay==0: break
weights_dense1_w = np.array([
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weights_dense2_b = np.array([ +0.1534, -0.0356, +0.0392, +0.0272, +0.0733, +0.2141, -0.0432, -0.0479, -0.1264, +0.1456, +0.2103, -0.0233, +0.2320, -0.0525, +0.1808, +0.1565, -0.0347, -0.0719, -0.2635, -0.1948, -0.1301, +0.0453, -0.0722, +0.0875, +0.3780, +0.1023, +0.1012, +0.3150, +0.1801, +0.1941, +0.2014, +0.1381, +0.1411, -0.0371, -0.0987, +0.1987, +0.1015, -0.2282, +0.0072, -0.0800, +0.0323, +0.1198, +0.2822, +0.0090, -0.1950, +0.0864, +0.2694, -0.0746, +0.2193, +0.1658, +0.0712, -0.1185, +0.1351, +0.1331, +0.3542, +0.1543, +0.1557, -0.0575, +0.0659, -0.0090, -0.1502, +0.0665, +0.1853, -0.0413])
weights_final_w = np.array([
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[ +0.1658, -0.2918, -0.4419, -0.1099, -0.1852, -0.0318],
[ +0.3883, -0.1925, -0.3671, -0.3079, -0.1405, -0.6695],
[ -0.3967, -0.1212, +0.2062, -0.4248, +0.2445, +0.5061],
[ +0.2296, +0.0054, +0.1389, +0.1225, -0.2944, -0.3264],
[ -0.3366, -0.1053, +0.1004, +0.0522, -0.2441, -0.1599],
[ +0.3214, +0.3230, -0.3416, +0.1735, -0.0354, +0.0172],
[ -0.0715, -0.0971, +0.2212, +0.0870, +0.4960, +0.0409],
[ +0.6941, +0.1916, +0.4534, -0.3305, -0.1206, +0.2755],
[ -0.0466, +0.2676, -0.2066, -0.2910, +0.0603, +0.1708],
[ +0.3716, +0.1599, -0.1473, +0.0362, -0.0572, +0.4125],
[ +0.0225, -0.1431, +0.3085, -0.1022, -0.3053, -0.3167],
[ +0.1484, +0.3096, +0.2186, -0.2676, +0.2821, -0.0416],
[ +0.2600, -0.1355, +0.1571, -0.4409, +0.1009, +0.1011],
[ +0.2334, +0.3423, -0.0794, +0.0448, -0.0112, -0.0245],
[ -0.3402, +0.1981, -0.0945, +0.1727, -0.0363, -0.1486],
[ -0.4074, -0.1319, +0.0434, +0.4359, -0.2658, -0.3302],
[ +0.2756, -0.2130, -0.2856, -0.1436, -0.4224, +0.1142],
[ -0.1194, +0.2529, -0.2741, -0.0691, -0.2947, -0.0033],
[ -0.0449, +0.4437, -0.0389, +0.1377, +0.1102, -0.1049],
[ +0.4368, +0.1699, +0.3433, -0.4160, -0.3043, +0.1180],
[ -0.1328, -0.6681, +0.4017, +0.3457, +0.1843, -0.0134],
[ +0.0630, +0.2032, +0.2331, -0.1384, -0.1024, +0.3183],
[ +0.1946, +0.1460, -0.1598, -0.2830, +0.2411, +0.3073],
[ +0.4296, -0.2071, +0.3769, +0.0840, -0.0062, -0.1579],
[ -0.0790, -0.1186, +0.0962, +0.4871, -0.2901, +0.6272],
[ -0.2573, +0.3325, +0.1097, -0.2340, -0.0787, +0.1208],
[ -0.4469, -0.3637, -0.1740, -0.4408, +0.0512, +0.5575],
[ +0.1426, -0.3975, -0.0685, -0.0452, -0.4517, +0.4320],
[ -0.5925, +0.3324, -0.1968, -0.2537, +0.6491, -0.2922],
[ -0.2201, -0.3118, -0.3722, +0.0216, +0.1670, -0.1343],
[ +0.0638, -0.2374, -0.1480, +0.4090, +0.2347, +0.1456],
[ -0.0656, +0.1516, -0.3281, -0.2661, +0.0645, +0.0550],
[ +0.3725, +0.2281, +0.3031, +0.0774, -0.3138, +0.0967],
[ +0.3016, +0.0322, +0.0556, -0.0571, -0.1177, -0.2442],
[ -0.2769, -0.5119, -0.0336, -0.1588, +0.0503, -0.2331],
[ +0.1518, +0.4363, +0.0093, -0.3960, -0.1347, +0.2931],
[ +0.1897, -0.0655, +0.1977, +0.4321, +0.6998, -0.0863],
[ +0.0391, -0.0305, +0.3576, -0.4996, -0.0640, -0.0039],
[ +0.2922, +0.3815, +0.2834, +0.1990, -0.0568, +0.2077],
[ -0.5371, +0.2796, +0.2952, +0.1182, +0.0523, -0.2151],
[ -0.5111, +0.2231, -0.1034, +0.0479, -0.0543, +0.0605],
[ +0.0822, -0.4530, -0.0345, +0.1621, -0.2487, +0.1516]
])
weights_final_b = np.array([ +0.1367, +0.1107, -0.0148, +0.1158, -0.0820, +0.3047])
if __name__=="__main__":
demo_run()

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examples/pybullet/gym/enjoy_TF_PybulletHopper_v0_2017may.py Normal file
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import gym
import numpy as np
import pybullet as p
import pybulletgym.envs
import time
def relu(x):
return np.maximum(x, 0)
class SmallReactivePolicy:
"Simple multi-layer perceptron policy, no internal state"
def __init__(self, observation_space, action_space):
assert weights_dense1_w.shape == (observation_space.shape[0], 128)
assert weights_dense2_w.shape == (128, 64)
assert weights_final_w.shape == (64, action_space.shape[0])
def act(self, ob):
x = ob
x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
x = np.dot(x, weights_final_w) + weights_final_b
return x
def demo_run():
env = gym.make("PybulletHopper-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:
frame = 0
score = 0
restart_delay = 0
obs = env.reset()
while 1:
time.sleep(0.01)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
still_open = env.render("human")
if still_open==False:
return
if not done: continue
if restart_delay==0:
print("score=%0.2f in %i frames" % (score, frame))
restart_delay = 60*2 # 2 sec at 60 fps
else:
restart_delay -= 1
if restart_delay==0: break
weights_dense1_w = np.array([
[ +0.6734, +1.1364, +0.6117, +0.5185, +0.5099, -0.2038, -0.0045, -0.1448, +0.5081, +1.1685, -0.7904, -0.4623, +0.0027, -0.0473, -0.1144, +0.5095, -0.1913, +0.2021, +0.3485, +0.1104, -0.4992, +0.5207, -0.1013, -0.6947, +0.1624, +0.3533, -0.2485, -0.0012, +0.1674, +0.1253, +1.5485, +0.3576, +0.8236, +0.7361, +0.6604, -0.0834, +0.1212, -0.8404, -0.8337, +0.3709, -0.4218, -0.1011, -1.1418, -0.0554, +0.6676, +0.4739, -0.2105, +0.3187, -0.4321, -0.7018, +0.1845, +0.2525, +0.0205, +0.9391, +0.6123, +0.6868, +0.5116, +0.3483, +0.1148, +0.6747, -0.1590, +0.1879, +0.4836, +0.1997, +0.5105, -0.2695, +0.0645, +0.5566, +0.0502, +0.2292, -0.4234, -0.3778, -0.7639, -0.6084, -0.0375, -0.4799, +0.6465, -0.4097, +0.1091, -0.0681, -0.1813, +0.3625, +0.6067, +0.1837, +0.1600, -0.1706, +0.0531, -0.3710, +0.1320, +0.5035, +0.1106, +0.9955, -0.2657, +0.6051, -0.2525, -0.9118, -0.6031, +0.2025, -0.2774, +0.3985, -0.0809, +0.3601, -0.0410, -0.5067, +0.4987, +0.4126, -0.1393, -0.6596, +0.8182, -0.2352, -0.9337, +0.1438, +0.3871, -0.1844, -0.4010, -0.3338, +0.1597, +0.2381, -0.4403, +0.5105, +1.0354, -0.1503, +0.2731, +0.6555, +0.2048, +0.4932, -0.0067, +0.0413],
[ -0.0031, -0.2183, +0.2275, -0.4836, +0.1347, +0.3581, +0.0921, +0.1900, -0.1721, +0.0150, -0.2146, +0.5346, +0.2407, -0.0791, +0.5115, -0.0763, +0.2025, +0.2792, +0.4087, +0.2082, +0.0086, -0.2742, +0.3703, +0.4297, -0.3141, -0.3896, +0.4101, -0.3967, -0.2173, -0.0532, +0.2521, +0.3938, -0.3727, +0.6136, +0.0902, -0.4617, -0.3266, -0.2273, +0.0031, +0.4605, +0.1221, +0.3603, -0.1018, +0.1839, +0.3198, -0.1404, -0.1751, -0.1030, -0.5847, +0.2526, -0.1280, +0.1644, +0.2988, -0.1793, -0.2120, +0.3398, -0.4582, +0.0758, -0.2848, -0.1537, -0.2718, -0.2207, +0.0109, +0.1374, -0.0281, -0.0494, -0.0093, +0.0098, +0.2691, +0.1589, +0.2483, +0.1394, +0.2531, +0.3884, +0.0740, -0.4444, +0.1441, +0.0768, +0.2154, +0.4015, -0.2109, -0.0985, -0.1066, -0.0167, -0.0204, -0.2345, +0.3131, +0.1026, +0.1873, +0.2644, +0.2253, -0.0173, +0.1014, +0.0781, +0.0455, -0.0489, -0.3541, -0.1257, -0.1248, +0.4402, -0.0682, -0.3045, +0.1751, +0.0397, -0.3392, -0.2758, +0.1542, -0.0460, -0.0622, +0.2255, +0.2442, +0.2070, +0.3175, -0.0913, -0.2772, +0.7036, -0.0876, +0.0907, +0.3794, +0.4784, -0.5111, +0.0982, -0.0145, +0.0397, -0.3429, -0.2727, -0.1384, +0.0512],
[ +0.2192, +0.0688, -0.1092, +0.1436, -0.2598, -0.0012, -0.2220, -0.2450, -0.0783, -0.0078, +0.3065, +0.1604, -0.0593, -0.0759, -0.4101, -0.1819, +0.4160, +0.0141, +0.0059, -0.2494, -0.0616, -0.3100, -0.3231, -0.3935, +0.1965, -0.0352, -0.0119, +0.3883, -0.5905, -0.0536, -0.0617, -0.2884, +0.1134, +0.1539, +0.2002, -0.3158, -0.5476, -0.4131, -0.1966, +0.1083, -0.3329, +0.1219, +0.2977, -0.7132, -0.1963, -0.2359, -0.4734, +0.0130, -0.1034, -0.1376, -0.1824, +0.1999, -0.3775, -0.0697, +0.1875, -0.0673, -0.0673, -0.0555, -0.3243, +0.2020, +0.1416, +0.1995, -0.1931, -0.6125, -0.3465, +0.0640, +0.3529, -0.4684, +0.2335, -0.0449, -0.1216, +0.1921, +0.0636, -0.0420, +0.1371, -0.1246, -0.2963, +0.0264, +0.3962, -0.3106, -0.2107, -0.2983, +0.0386, -0.0458, -0.3277, -0.1686, -0.3064, +0.2433, +0.3454, +0.0046, +0.0885, -0.2479, +0.2886, -0.0804, +0.0110, -0.1369, -0.1210, +0.1901, +0.0001, -0.1155, +0.2887, -0.0943, -0.1167, +0.1746, +0.0379, +0.0964, -0.2615, -0.0209, -0.0680, +0.0031, -0.0905, -0.0618, -0.5630, -0.0664, -0.1976, -0.2367, -0.2360, -0.2243, +0.2448, +0.2446, -0.0012, -0.6920, -0.0880, -0.4630, -0.5512, +0.0312, +0.1522, -0.1278],
[ -0.2378, +0.2783, +0.0848, -0.3973, -0.5359, +0.2541, +0.1616, +0.1856, +0.6054, +0.0894, +0.2599, -0.0082, -0.5433, -0.3567, -0.1134, -0.2706, -0.9177, +0.1949, +0.4099, -0.3198, +0.3856, -0.0285, -0.0692, +0.0882, -0.1052, -0.0122, -0.0271, -0.4122, -0.0921, -0.2014, +0.0314, -0.0638, -0.0986, +0.1912, +0.6157, -0.0856, +0.0450, +0.3492, -0.0958, -0.1261, +0.1242, +0.0930, +0.1372, -0.1914, +0.4377, +0.0586, +0.2271, -0.1985, -0.1012, -0.2074, +0.2934, -0.2271, -0.4235, -0.0077, -0.2304, -1.1012, -0.1832, -0.1528, -0.4307, -0.4059, -0.4289, +0.1290, -0.1688, -0.0446, +0.2036, -0.5397, -0.3280, +0.3672, -0.3012, -0.1896, +0.0923, +0.1472, -0.0703, -0.0328, -0.1597, -0.3102, -0.4221, +0.3261, +0.4840, +0.0083, +0.2617, -0.2548, -0.5314, -0.4192, +0.6303, +0.2605, -0.6675, -0.0837, -0.8402, -0.4546, +0.2169, +0.0480, +0.2543, +0.0004, +0.2982, -0.2037, -0.4812, +0.0583, -0.8738, +0.0586, -0.3745, -0.5477, -0.2971, -0.1551, -0.4880, -0.1060, +0.2188, -0.4043, -0.0349, -0.1349, -0.4093, -0.4371, +0.3101, +0.5219, -0.0655, -0.2546, -0.6408, +0.2019, +0.1351, +0.0971, -0.4105, +0.1299, -0.6688, -0.0550, -0.2388, -0.4246, +0.1126, -0.5573],
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weights_dense2_b = np.array([ +0.0266, +0.3395, +0.0968, +0.0097, +0.0443, -0.1722, -0.2537, +0.1501, +0.0233, -0.0174, +0.1783, -0.0513, -0.1531, -0.2145, +0.0299, -0.1589, +0.1143, +0.1132, -0.2700, -0.0481, +0.2876, +0.1824, +0.2418, +0.1009, -0.1451, +0.1637, +0.1703, +0.0336, -0.1405, -0.0162, -0.1158, +0.1691, -0.0223, -0.1828, +0.2352, +0.0209, -0.1362, -0.2636, +0.1271, -0.0936, -0.1436, +0.0606, +0.1311, -0.0989, -0.2877, +0.2593, +0.0781, -0.1118, -0.1264, +0.2478, +0.2398, -0.1515, +0.0959, -0.0821, -0.1740, +0.1116, -0.0682, +0.1743, +0.1746, -0.1950, -0.0951, +0.2190, -0.0294, +0.1950])
weights_final_w = np.array([
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[ -0.1878, +0.6672, +0.0333],
[ +0.5618, -0.1013, -0.2911],
[ +0.8250, -0.0788, -0.3731],
[ +0.2661, -0.2775, +0.2854],
[ -0.1036, +0.2179, -0.6408],
[ -0.5371, -0.7837, +0.1141],
[ +0.4754, -0.0923, +0.1714],
[ +0.0448, +0.4901, -0.1578],
[ +0.8797, +0.3316, +0.4349],
[ +0.1514, -0.4129, -0.3333],
[ +0.2847, +0.2285, +0.1408],
[ +0.0045, +0.3333, +0.0694],
[ +0.1553, -0.5147, +0.0549],
[ -1.0765, -0.5130, +0.1472],
[ +0.0808, -0.2612, +0.2591],
[ +0.5104, +0.3062, +0.3979],
[ -0.0758, -0.4512, -0.4422],
[ +0.3236, +0.4479, -0.1759],
[ +0.2181, -0.0028, +0.5615],
[ -0.0254, -0.1924, +0.4608],
[ -0.1566, +0.5634, -0.2498],
[ -0.0042, +0.5403, +0.0272],
[ +0.1206, +0.3941, -1.1469],
[ +0.7642, -1.0114, +0.4905],
[ +0.5071, +0.2270, +0.0046]
])
weights_final_b = np.array([ +0.4868, -0.0987, -0.0946])
if __name__=="__main__":
demo_run()

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examples/pybullet/gym/enjoy_TF_PybulletHumanoid_v0_2017may.py Normal file
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import gym
import numpy as np
import pybullet as p
import pybulletgym.envs
import time
def relu(x):
return np.maximum(x, 0)
class SmallReactivePolicy:
"Simple multi-layer perceptron policy, no internal state"
def __init__(self, observation_space, action_space):
assert weights_dense1_w.shape == (observation_space.shape[0], 256)
assert weights_dense2_w.shape == (256, 128)
assert weights_final_w.shape == (128, action_space.shape[0])
def act(self, ob):
ob[0] += -1.4 + 0.8
x = ob
x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
x = np.dot(x, weights_final_w) + weights_final_b
return x
def demo_run():
env = gym.make("PybulletHumanoid-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:
frame = 0
score = 0
restart_delay = 0
obs = env.reset()
while 1:
time.sleep(0.01)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
still_open = env.render("human")
if still_open==False:
return
if not done: continue
if restart_delay==0:
print("score=%0.2f in %i frames" % (score, frame))
restart_delay = 60*2 # 2 sec at 60 fps
else:
restart_delay -= 1
if restart_delay==0: break
weights_dense1_w = np.array([
[ +0.2289, +0.2584, +0.2595, +0.0173, +0.1293, -0.2980, +0.1410, +0.0982, +0.0216, +0.3724, +0.2204, -0.0734, -0.2420, -0.3443, -0.2738, -0.3825, +0.1504, -0.0930, -0.2680, +0.0685, +0.1592, +0.2534, -0.0787, -0.0426, +0.2591, +0.2134, -0.1631, +0.5168, +0.1444, +0.2736, +0.3623, -0.3472, +0.0393, -0.3056, +0.3850, -0.5231, +0.4511, +0.4223, -0.0905, +0.2265, +0.1662, +0.1092, +0.0426, -0.0209, +0.3260, -0.1788, +0.5045, -0.0254, +0.6684, +0.4659, +0.2193, +0.6121, -0.1771, +0.3024, +0.3233, -0.3380, +0.1834, +0.1947, +0.2840, -0.0212, +0.0610, +0.0254, -0.0687, +0.3342, -0.2010, +0.4851, -0.5739, -0.3228, -0.2242, +0.6149, +0.2704, -0.1006, +0.3950, -0.2684, +0.0090, -0.2419, +0.1112, -0.0795, +0.0021, -0.0317, +0.1345, -0.2847, +0.2323, +0.5374, -0.0119, -0.2098, +0.2074, +0.1693, +0.4537, -0.1453, +0.2661, -0.2997, +0.1043, -0.2340, +0.4472, -0.0415, +0.6437, +0.0279, +0.1609, +0.3353, -0.2240, -0.5433, -0.0053, +0.1863, +0.1038, +0.3337, +0.3889, +0.4159, -0.0836, -0.0826, +0.0872, -0.1362, +0.0061, -0.2982, -0.0074, -0.1452, -0.0655, -0.1369, -0.0493, -0.1082, -0.4080, +0.4732, +0.1229, +0.3087, -0.1222, +0.3846, +0.0719, -0.4536, +0.1202, -0.3903, -0.0445, +0.4052, +0.2922, +0.1095, +0.0317, +0.0974, +0.1149, -0.3794, +0.4364, -0.1597, +0.2889, +0.2431, +0.6867, +0.5117, -0.2517, +0.2835, -0.0365, +0.3303, +0.2569, +0.3636, -0.0945, +0.1853, -0.1341, +0.2595, -0.0174, -0.3227, +0.1999, +0.2348, +0.5826, -0.0480, +0.1449, +0.3866, +0.4740, +0.2486, +0.5011, -0.0334, +0.0953, +0.1072, -0.0901, -0.3235, +0.3258, +0.3003, +0.1229, -0.2257, -0.1920, -0.2025, -0.2022, +0.0843, +0.4563, -0.2654, +0.3158, -0.3102, +0.1105, -0.1171, +0.0465, -0.0692, +0.2824, +0.2598, -0.0289, -0.7774, +0.3501, -0.0635, +0.2257, -0.1644, +0.4091, -0.1967, +0.1614, +0.5468, +0.1365, +0.5054, +0.1986, +0.1368, +0.0886, -0.1305, +0.4297, +0.2482, -0.1914, -0.2909, +0.1784, +0.0690, +0.0224, +0.0378, +0.4991, -0.3410, +0.4281, -0.4574, +0.1952, -0.0444, -0.1939, +0.1637, +0.2385, +0.1354, +0.1817, -0.3849, +0.1909, +0.6585, +0.0997, +0.1376, +0.3598, +0.0611, +0.0124, -0.1492, -0.0659, -0.2671, -0.3925, +0.2333, +0.4184, -0.1364, -0.0361, -0.5937, -0.0327, -0.1142, -0.3334, +0.2963, +0.2350, -0.2600, +0.2784, -0.0720, -0.1594, -0.2652, +0.3922, +0.7291, -0.1830, +0.2253, +0.1965, +0.1972],
[ +0.2244, +0.6008, -0.2907, -0.1769, -0.1935, +0.0902, +0.3499, +0.0213, +0.1343, -0.4925, -0.0996, -0.2332, -0.0739, -0.3686, -0.8946, +0.0956, +0.0229, -0.1700, -0.1541, -0.1738, -0.2712, +0.2399, -0.9785, +0.0332, -0.1472, +0.2317, -0.2498, -0.5549, +0.2247, +0.1835, +0.3699, +0.4326, +1.0277, +0.5037, +0.1917, -0.0519, +0.6952, +0.0699, +0.5892, -0.2437, +0.4122, +0.8816, +0.1263, -0.2072, +0.7932, +0.1292, -0.0770, +0.0025, +0.5216, -0.0476, +0.1862, +0.5225, -0.1914, +0.2424, +0.9420, +0.3432, +0.0285, +0.1507, +0.1983, -0.3111, -0.2958, -0.3750, -0.3894, +0.4764, -0.0933, -0.1671, -0.3327, -0.1734, +0.3197, -0.2884, +0.0234, -0.3527, -0.4019, +0.4847, +0.8950, +0.1055, +0.1383, +0.2209, -0.0691, +0.6060, +0.3265, -0.0979, -0.2110, +0.6802, -0.4336, -0.6381, -0.1507, +0.4082, -0.1635, -0.0835, -0.0082, +0.5745, -0.2450, +0.7778, -0.2730, -0.6112, -0.0839, -0.0785, -0.6745, -0.1420, +0.4217, +0.3215, -0.2859, +0.3225, +0.0936, +0.0283, -0.1876, +0.4980, -0.4691, -0.0344, +0.1162, +0.1886, -0.1320, +0.4492, +0.0019, -0.0631, +0.2038, -0.3549, +0.2250, -0.2285, -0.0618, -0.0311, +0.7220, +0.0530, -0.3637, +0.2023, -0.3015, +0.1247, +0.2858, -0.2926, +0.2305, +0.2896, +0.1855, -0.3343, -0.1031, -0.3579, -0.6165, -0.3269, +0.0746, +0.2497, -0.3880, -0.5785, -0.7582, -0.1729, -0.3449, -0.1357, -0.5979, -0.7973, +0.1202, +0.6009, -0.0103, -0.0233, -0.0987, +0.4404, +0.4355, -0.0934, -0.0910, -0.0382, -0.0268, +0.0425, +0.0329, +0.7613, +0.1151, +0.1962, +0.3848, +0.6449, +0.0600, +0.8192, +0.2580, +0.4444, -0.5772, -0.1268, -0.0429, +0.0785, +0.1237, +0.5161, -0.3665, +0.0825, +0.1226, +0.4157, +0.4844, -0.5870, -0.6568, +0.1661, +0.0846, +0.9718, +0.8856, +0.4171, -0.4568, -0.0714, +0.0394, -0.1495, +0.1462, -0.1572, +1.3937, +0.1682, +0.4968, -0.3699, +0.0710, +0.2328, +0.4747, -0.4286, +0.4434, -0.0531, +0.8446, +0.0101, -0.4317, -0.2297, +0.4299, -0.1323, +0.4804, -0.2152, +0.0161, +0.0560, -0.3013, +0.2911, +0.3542, +0.3124, +0.3897, +0.1082, +0.2437, +0.0183, +0.2230, +0.0093, +0.1507, -0.3895, -0.2750, +0.0991, +0.1170, -0.5877, +0.4045, +1.0306, -0.1141, -0.0084, +0.3079, +0.4545, +0.0084, +0.1517, -0.0344, +0.4704, -0.2666, -0.0728, -0.0447, +0.4098, -0.4524, -0.4638, -0.4063, -0.2521, -0.2830, +0.1845, -0.3146, +0.4381, -0.0215, +0.2613, -0.1182, +0.4527],
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weights_final_w = np.array([
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[ -0.0193, -0.1029, +0.1858, +0.0139, +0.2608, -0.0146, +0.0154, +0.0489, -0.1093, +0.0104, -0.2219, +0.0648, -0.0656, -0.0877, +0.0203, -0.0899, -0.0903],
[ -0.0886, +0.1405, -0.3229, +0.1365, -0.0121, +0.0062, -0.0392, -0.0051, +0.1538, +0.2586, -0.0580, +0.1502, -0.0022, -0.0271, -0.0936, -0.4547, +0.0754],
[ +0.3475, +0.0164, -0.2164, +0.0795, -0.0293, +0.1575, +0.0395, -0.4194, +0.0051, -0.0399, +0.1034, +0.3149, -0.0858, -0.1606, -0.0197, -0.0434, -0.0950],
[ +0.1236, -0.0872, -0.2009, +0.3143, +0.1047, +0.0123, -0.1373, -0.0199, +0.0415, -0.0361, +0.4936, +0.1017, +0.0232, -0.2103, -0.0957, -0.1162, +0.0018],
[ -0.0303, +0.2271, +0.2671, -0.1139, +0.0505, +0.0459, +0.0181, -0.0978, +0.0442, +0.0428, -0.0411, +0.1537, -0.2310, -0.0133, +0.0393, +0.2811, +0.0302],
[ +0.0180, -0.2184, -0.0850, -0.1738, -0.1618, +0.0298, -0.0198, +0.3145, -0.1872, -0.0837, -0.0753, -0.1052, -0.0610, -0.1089, -0.0288, +0.0058, -0.0733],
[ +0.0005, +0.1507, +0.1555, +0.0516, -0.1457, -0.1738, -0.0570, +0.0876, +0.2975, +0.1416, +0.0454, -0.3029, +0.0148, -0.2664, +0.0913, +0.0374, +0.1604],
[ +0.0099, +0.1211, +0.3735, +0.2346, +0.0826, -0.0476, -0.0548, -0.0957, +0.0246, -0.0414, +0.0233, -0.0779, +0.0275, -0.1103, +0.1439, -0.1177, +0.0950],
[ +0.0991, -0.0663, -0.0226, -0.2599, -0.2676, -0.2060, -0.0898, +0.0218, -0.0629, +0.3991, -0.0857, -0.0919, -0.0442, +0.0097, -0.0634, -0.1714, +0.0120],
[ -0.0083, -0.2737, -0.0861, -0.1251, +0.0406, +0.0368, -0.1133, +0.1224, -0.1233, +0.0078, +0.1233, +0.0664, -0.2030, +0.0159, -0.4872, +0.0998, -0.1442],
[ -0.0557, +0.0044, +0.0650, -0.3940, +0.0112, +0.1438, +0.0244, -0.0566, -0.1197, +0.0153, -0.0472, -0.1162, -0.1096, -0.0067, +0.0748, -0.1948, +0.0299],
[ -0.1223, -0.1968, +0.0289, -0.1279, +0.2201, -0.2378, +0.0276, +0.2640, +0.0479, +0.0962, -0.0191, -0.2616, -0.1661, -0.1301, +0.1400, +0.0645, -0.1336],
[ +0.0914, +0.0268, +0.0498, +0.2482, -0.1405, -0.1721, +0.0066, +0.0427, +0.1062, -0.0699, +0.0238, +0.1893, +0.0670, -0.0401, -0.0636, +0.0611, -0.0596],
[ -0.1982, -0.2318, +0.1808, +0.0593, +0.1440, +0.3635, +0.0442, -0.1524, +0.0650, +0.0216, -0.0772, -0.1202, +0.2329, +0.0204, -0.0736, +0.2445, +0.0261],
[ -0.3588, +0.0298, -0.0034, -0.0458, +0.2777, +0.2485, +0.3801, -0.0695, -0.1679, -0.5362, -0.1887, +0.0389, +0.2512, -0.0413, +0.0365, -0.0915, +0.0519],
[ -0.0069, +0.1737, +0.1234, +0.0086, +0.0216, +0.1098, -0.0172, +0.0209, -0.1796, +0.1730, -0.0681, +0.1485, +0.1096, -0.0660, -0.0895, +0.1351, -0.0554],
[ -0.2458, +0.0149, +0.0155, -0.0099, +0.0206, +0.3378, +0.2285, +0.0385, -0.0532, +0.2575, -0.0545, +0.0151, +0.0540, -0.0833, +0.0946, +0.0446, -0.0862],
[ -0.1136, +0.1565, +0.1244, -0.0161, -0.0614, +0.1204, -0.0771, +0.2362, +0.0355, +0.2028, -0.0155, -0.0652, -0.2262, -0.0749, -0.1730, -0.0957, +0.2760],
[ +0.0634, -0.0011, -0.1770, -0.1426, +0.1599, +0.0892, -0.0261, +0.0790, +0.0812, +0.4281, +0.0143, +0.1554, +0.3770, -0.0206, -0.1564, +0.0818, -0.0514],
[ +0.0102, -0.1232, -0.2659, -0.1866, +0.0090, +0.2672, -0.0540, +0.1100, -0.2942, -0.2454, -0.0566, -0.2273, +0.1938, +0.0229, -0.1563, -0.0024, -0.0975],
[ -0.0645, -0.0004, +0.1548, +0.2129, -0.0429, -0.0628, +0.0306, +0.1769, -0.0491, -0.0285, -0.0621, -0.4293, +0.1821, +0.1154, -0.0027, +0.0264, -0.0107],
[ +0.3158, -0.0591, +0.0461, +0.0682, +0.0015, -0.0667, +0.1125, +0.0242, -0.0998, +0.0405, -0.1104, +0.0892, -0.1950, -0.0443, -0.1472, +0.1181, -0.0764],
[ -0.0697, -0.0853, +0.1715, +0.0623, +0.0484, -0.0205, -0.2043, -0.0463, -0.1115, +0.0058, -0.0556, -0.0808, +0.0454, -0.0959, +0.1666, +0.3646, +0.2677],
[ -0.1574, -0.2403, -0.1285, -0.0211, -0.2054, -0.0027, +0.1099, -0.1112, -0.2730, -0.1247, +0.1788, -0.1336, -0.1028, +0.1764, +0.2594, -0.0231, +0.1732],
[ +0.2124, +0.1167, -0.0895, -0.0324, +0.2043, +0.0680, -0.0162, -0.0062, -0.0897, +0.0854, +0.0748, +0.3693, -0.0414, +0.0972, +0.0094, +0.0354, +0.1289],
[ +0.2460, -0.1170, -0.1432, -0.0896, +0.0093, +0.0557, -0.0195, +0.0088, +0.0839, +0.0375, +0.1659, -0.0451, -0.1184, -0.2017, +0.0481, -0.1517, +0.1372],
[ -0.0602, +0.3316, -0.0452, -0.0173, +0.0148, +0.0459, +0.0167, -0.0842, +0.0428, +0.2873, -0.0527, +0.0752, -0.0441, +0.0583, +0.0443, +0.1112, -0.0272],
[ +0.0051, -0.0555, +0.1717, +0.1398, -0.1614, -0.0300, -0.1820, -0.0658, +0.0742, -0.0847, -0.1139, +0.0728, +0.1420, +0.2099, -0.2902, +0.1338, +0.1417],
[ -0.0094, -0.0020, -0.1126, -0.2572, -0.2766, +0.0049, +0.1369, +0.0054, -0.1328, +0.0361, +0.1361, +0.3090, +0.0047, +0.1695, +0.0896, -0.1901, -0.1786],
[ +0.1339, -0.0886, +0.0770, +0.0189, -0.1017, -0.0070, +0.1551, -0.0489, +0.0966, -0.0131, -0.0856, -0.1183, +0.1585, -0.0139, +0.1861, -0.1487, +0.0005],
[ +0.2260, +0.0098, -0.3146, -0.0441, +0.1948, +0.0520, +0.0863, -0.0021, -0.1183, +0.0328, +0.0124, +0.0056, +0.0944, -0.0319, +0.0679, +0.0774, +0.0409],
[ -0.0237, -0.3453, -0.1483, -0.2272, +0.1675, -0.1041, -0.0126, +0.3376, -0.0138, +0.1525, -0.0322, +0.2070, -0.2725, -0.0600, -0.1466, -0.2563, +0.0551],
[ +0.1966, -0.0838, -0.0537, +0.0933, -0.0060, -0.0721, -0.0399, -0.1153, -0.1987, -0.0413, +0.2588, +0.0648, -0.0473, +0.1387, +0.6180, +0.0229, -0.2610],
[ -0.1566, -0.0589, -0.0600, +0.0966, +0.0738, -0.0744, -0.0010, +0.0253, +0.2387, -0.0539, +0.0625, +0.1197, +0.0486, +0.0605, +0.2775, -0.0594, -0.0759],
[ -0.4288, -0.0693, +0.0067, +0.3567, +0.0813, -0.1369, -0.3431, +0.0559, -0.0320, +0.0158, -0.1947, -0.3235, +0.1294, -0.2915, -0.2301, -0.1980, +0.0892],
[ -0.1741, +0.0445, -0.0525, +0.0650, -0.0474, +0.1845, -0.0831, -0.0693, -0.0071, -0.0772, +0.0915, -0.0571, -0.1035, -0.0038, -0.1508, -0.2323, -0.1788],
[ +0.1543, -0.0994, +0.0674, +0.1953, +0.1254, -0.1263, +0.0854, -0.1048, +0.0106, -0.0203, +0.1019, -0.0881, +0.2788, -0.2237, -0.0723, +0.0393, -0.0969],
[ +0.0560, +0.2425, +0.1031, +0.1155, -0.1187, -0.1155, -0.0789, +0.2113, +0.0024, +0.2648, -0.1811, -0.0259, -0.1363, -0.2149, -0.2199, -0.1105, -0.1616],
[ -0.0967, +0.0007, -0.2230, +0.1197, +0.1085, +0.0267, -0.0633, +0.1611, -0.0078, +0.0088, -0.0879, -0.1362, +0.1364, -0.1784, +0.1725, -0.0491, -0.0177],
[ +0.0724, -0.0574, +0.0696, -0.0095, -0.1601, +0.1243, +0.2373, -0.1058, +0.1610, -0.1874, -0.0689, +0.1806, -0.2117, -0.0855, -0.0657, +0.0366, -0.0797]
])
weights_final_b = np.array([ -0.0356, +0.0776, -0.0344, +0.1375, +0.1048, +0.3648, +0.3240, +0.1319, +0.1161, +0.3373, +0.3193, +0.0120, +0.0253, -0.2434, -0.1291, +0.1042, -0.2448])
if __name__=="__main__":
demo_run()

178
examples/pybullet/gym/enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py Normal file
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import gym
import numpy as np
import pybullet as p
import pybulletgym.envs
import time
def relu(x):
return np.maximum(x, 0)
class SmallReactivePolicy:
"Simple multi-layer perceptron policy, no internal state"
def __init__(self, observation_space, action_space):
assert weights_dense1_w.shape == (observation_space.shape[0], 64.0)
assert weights_dense2_w.shape == (64.0, 32.0)
assert weights_final_w.shape == (32.0, action_space.shape[0])
def act(self, ob):
x = ob
x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
x = np.dot(x, weights_final_w) + weights_final_b
return x
def demo_run():
env = gym.make("PybulletInvertedDoublePendulum-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:
frame = 0
score = 0
restart_delay = 0
obs = env.reset()
while 1:
time.sleep(0.05)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
still_open = env.render("human")
if still_open==False:
return
if not done: continue
if restart_delay==0:
print("score=%0.2f in %i frames" % (score, frame))
restart_delay = 60*2 # 2 sec at 60 fps
else:
restart_delay -= 1
if restart_delay > 0: continue
break
weights_dense1_w = np.array([
[ -0.5857, +0.1810, +0.2839, +0.1278, -0.4302, -0.3152, +0.5916, -0.0635, +0.6259, +0.2873, -0.0572, -0.3538, -0.8121, +0.2707, +0.1656, -0.2103, -0.1614, -0.2789, -0.5856, -0.4733, +0.1838, +0.1063, +0.7629, +0.0873, +0.1480, +0.1768, +0.6522, +0.1158, -0.0816, +0.6542, -0.8870, +0.1775, +0.1532, +0.2268, -0.0313, -0.0470, +0.5328, -0.0570, +0.4820, -0.3772, -0.7581, +0.2835, -0.3566, +0.9371, -0.0441, -0.1797, -0.2859, -0.0238, +0.0261, -0.0296, -0.1406, +0.2869, +0.1279, +0.6653, +0.5643, -0.3136, +0.7751, +0.2341, +0.1903, +0.8283, -0.0697, +0.1276, -0.0250, -0.0053],
[ +0.3741, +0.4844, -0.0638, -0.3205, +0.3137, +0.9636, +0.5329, +0.6882, +0.2983, -0.6675, -0.6372, +0.2065, -0.2645, -0.4789, +0.2326, -0.0691, -0.5905, -0.3354, +0.3428, +0.4253, +0.9111, -0.4751, -0.2124, +0.3920, +0.2897, -1.1101, +0.1894, -0.4025, -0.1125, -0.0627, +0.2347, -0.8787, +0.1019, +0.9128, +0.2544, -0.3933, +0.6485, -0.1936, -0.2402, +0.5012, -0.0918, +0.3160, -0.7860, +0.3439, -0.4268, -0.1788, -0.3930, +0.5128, +0.2338, +0.2571, +0.1343, +0.9850, -0.7074, +0.3532, +0.3048, -0.4542, +0.5539, -0.4409, -0.2003, -0.4837, -0.3554, -0.4447, -0.0817, -0.8497],
[ +0.0825, +0.5847, +0.4837, +0.5144, +0.4770, +0.0199, +0.4275, -0.4530, +0.8499, -0.2840, +0.3817, -0.5098, -0.2155, -0.1475, +0.1145, -0.1871, -0.0526, +0.3583, -0.3537, -0.7111, -0.6116, +0.3406, -0.6360, +0.7786, +0.6628, -0.0493, +0.3505, -0.0376, -0.6556, +1.0748, -0.5329, +0.6477, -0.7117, +0.3723, +0.6006, +0.0171, +0.0012, +0.4910, -0.5651, -0.6868, +0.2403, +0.0254, -0.4416, +0.7534, -0.0138, -1.1298, +0.5447, +0.0974, +0.1988, -0.2161, -0.3126, -0.5731, -0.1278, +0.2995, -0.1200, -0.7917, +0.5326, +0.4562, -0.0144, +0.5717, -0.4065, +0.1494, +0.7100, +0.2461],
[ -0.2861, +0.4314, -0.2982, -0.1401, -0.1033, +0.5287, -0.6620, -0.3975, +0.0038, +0.1991, -0.7079, -0.9000, +0.1659, +0.3623, -0.0752, -0.1907, -0.2335, -0.5143, +0.2324, -0.0487, +0.1583, -0.5989, +0.5957, +0.2150, -0.0335, +0.2154, +0.3279, -0.7976, +0.5320, -0.4438, +0.2170, -0.3841, -0.0039, -0.0847, -0.0028, -0.4278, -0.2393, -0.9239, +0.2880, -0.1437, -0.0941, -0.0796, -0.3906, -0.3224, +0.1038, -0.1929, -0.2713, -0.4157, -0.2178, +0.5729, -0.2065, +0.0059, +0.3879, +0.0590, +0.1759, +0.0677, -0.0170, -0.2252, +0.3301, -0.0599, +0.3791, -0.1455, +0.2200, -0.0499],
[ -0.4403, +0.7182, +0.7941, +0.1469, +1.5777, +0.3426, +0.0923, +0.2160, +1.1492, -0.5206, -0.2659, -0.1504, +0.2739, -1.3939, +0.8992, -1.1433, -0.3828, -0.2497, -0.2172, +0.2318, -0.3605, +0.6413, -1.9095, +1.4785, -0.1274, -0.7208, -0.0802, -0.8779, -1.6260, +0.9151, +0.8289, -0.0902, -0.3551, +0.6198, +1.7488, +0.0739, -1.2022, -0.3536, -1.5187, +0.1839, +1.4258, +0.4217, +0.1503, -0.0460, +0.2327, -0.4139, -0.3668, +0.2997, +0.6856, +0.6917, -0.3856, -0.3620, +0.1578, -0.8349, -1.0796, -0.0319, -1.1966, -0.8122, +0.5053, -0.5033, -0.9207, -0.1193, -0.7625, +0.1379],
[ -0.0321, -0.3206, -0.4516, +0.3420, +1.0964, +0.0311, +0.4654, -0.2367, +0.3347, -0.2798, -0.8169, -0.1555, +0.9397, -0.5597, +0.7113, -0.3642, -0.2840, -0.1323, -0.1000, +0.2283, +0.3612, -0.4784, +0.0504, +0.5310, -0.0887, +0.2926, +0.5069, -0.5645, -0.0976, -0.2594, +0.4425, +0.9223, -0.5637, -0.2336, -0.1316, -0.6564, -0.2780, -0.2409, -0.1637, +0.4506, +0.7018, -0.1299, +0.7172, +0.1207, +0.4375, +0.3836, +0.2781, -0.7792, -0.5317, +0.4510, +0.2423, -0.0588, -0.4254, -0.6381, -0.8205, +0.6417, +0.1904, -0.2618, +0.5900, -0.3899, -0.7851, -0.4769, -0.3688, -0.3510],
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weights_dense1_b = np.array([ -0.1146, +0.2897, +0.0137, +0.0822, +0.0367, +0.0951, -0.0657, +0.0653, -0.0729, -0.0501, -0.6380, -0.4403, +0.0660, +0.0693, -0.4353, -0.2766, -0.1258, -0.6947, -0.1616, -0.0453, +0.1498, -0.2340, -0.0764, +0.2020, +0.4812, +0.0908, -0.1883, -0.0753, -0.0373, -0.4172, -0.1071, +0.0861, -0.1550, -0.0648, -0.1473, +0.1507, -0.0121, -0.5468, -0.1529, -0.3341, +0.0239, -0.0463, -0.0044, -0.0541, +0.0384, +0.3028, +0.3378, +0.0965, +0.0740, +0.1948, -0.1655, +0.1558, +0.1367, -0.1514, +0.0540, -0.0015, -0.1256, +0.3402, -0.0273, -0.2239, -0.0073, -0.6246, +0.0755, -0.2002])
weights_dense2_w = np.array([
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[ -0.0582, -0.5750, +0.1279, +0.3630, -0.2404, -0.1511, +0.2650, -0.0324, -0.2258, +0.0007, +0.3051, -0.1875, -0.5106, +0.0104, +0.1335, -0.5282, -0.2210, +0.2648, -0.7506, +0.4975, -1.7048, +0.2378, -0.1771, +0.2981, +0.1252, +0.1384, -0.3384, -0.0830, +0.0966, +0.3728, -0.1980, -0.1953],
[ -1.0735, -0.2780, +0.1428, -0.0624, -0.0311, -0.2687, -0.1623, +0.2996, +0.1782, -0.1403, -0.3761, -1.3413, -0.2020, -0.0492, -0.6636, -0.2737, +0.2228, +0.3109, +0.1596, +0.0172, +0.1325, -1.4936, -0.0615, -0.1547, -0.2285, +0.2648, -0.1008, -1.6756, -0.2352, +0.0998, -0.4550, +0.2028],
[ -0.3866, -0.0107, +0.1052, +0.1423, +0.1160, +0.1712, -0.6206, -0.3505, -0.3298, -0.0362, +0.6768, +0.2086, -0.4348, -0.3577, +0.0131, -0.1640, +0.0160, -0.3891, -0.0180, -0.1064, -0.2494, +0.0340, +0.2225, -0.1320, -0.3550, -0.3005, +0.0118, +0.2782, +0.4691, -1.3792, +0.1971, -0.0598],
[ +0.0215, +0.1885, -0.5360, -0.1283, +0.4689, +0.1426, -0.2809, -0.8197, +0.1951, -0.1620, +0.0627, +0.2864, -0.3069, -0.1170, +0.0545, -0.4527, -0.6646, -0.1546, -0.1794, -0.5350, -0.1060, -0.0198, -0.5782, -0.2201, +0.0361, -0.2497, -0.1527, -0.1489, +0.1034, +0.0925, +0.0368, -0.0352],
[ +0.2459, +0.3230, -0.0494, -0.5631, +0.0600, -0.3036, -0.5443, +0.1081, -0.2231, +0.0734, +0.0289, +0.4205, -0.6415, -0.1305, -0.0717, +0.2971, +0.0476, -1.3001, +0.5122, -0.0005, -0.3572, +0.0727, +0.1713, -0.4751, -0.3614, -0.0957, -0.0942, +0.0580, +0.2393, +0.0038, +0.1938, -0.1704],
[ +0.3352, -0.0882, -0.0349, -0.6093, +0.4262, -0.1350, -0.0687, -0.2459, -0.5564, -0.2956, +0.1619, -0.0813, -0.5128, -0.2209, +0.3870, -0.0804, +0.7676, -0.1745, -0.3860, -0.5517, -0.6899, -0.6400, +0.6095, -0.5337, +0.3452, -0.6608, +0.0662, +0.1741, +0.1653, -0.4191, +0.1051, -0.3116],
[ -0.0527, -1.3119, +0.3441, -0.0041, -0.5938, -0.4224, +0.3973, +0.4673, -0.0613, -0.0191, +0.1297, -0.2211, -0.0880, +0.0319, +0.0661, -0.2075, +0.4380, +0.3197, +0.0989, +0.2346, -0.0142, -1.2137, +0.1618, -0.3300, +0.4591, +0.4910, +0.3537, -0.5902, -0.0616, +0.2882, -0.0900, -0.0208],
[ -0.7068, -0.7952, +0.4496, +0.1237, -0.2000, -0.5966, +0.3920, +0.3458, +0.0036, -0.0666, -0.3061, -0.1172, +0.0446, +0.1768, -0.5318, +0.2083, +0.3371, +0.1497, +0.4244, +0.3980, +0.2023, -0.8931, +0.1860, -0.6889, -0.3250, +0.1250, +0.1510, -0.3405, -0.4040, +0.1598, -0.9933, +0.0233],
[ -1.2305, -0.3178, +0.0536, -0.0585, -0.7097, +0.3196, +0.2899, +0.8200, +0.0384, +0.1733, -1.1839, -2.2545, +0.0653, +0.1376, -0.1359, -0.1202, -0.0831, -0.5397, +0.1100, +0.1386, -0.1271, -0.6298, +0.1038, -0.1213, -0.1461, -0.4508, +0.5106, -0.8266, -0.6204, +0.3753, -0.4897, -0.0751],
[ -0.3676, -0.5547, +0.0897, -0.0230, -0.3045, -0.1885, -0.5990, +0.3622, -0.2240, -0.1205, -0.3056, +0.7085, +0.0053, -0.1213, -0.3023, +0.1433, -0.2090, -0.0412, +0.2561, +0.1313, -0.2803, +0.2543, +0.0571, -0.9791, -0.0167, -0.2928, -0.3020, -0.2271, +0.0507, -0.1310, -0.6347, -0.0889],
[ -0.2794, +0.0675, -1.0020, -0.2234, +0.3937, -0.2857, +0.1058, -1.0755, -0.0377, -0.2753, -0.0501, -0.0493, -0.2987, -0.2214, +0.2869, -1.0882, -1.2635, -1.2235, -0.5762, -0.4528, -0.1372, -0.0192, -1.3768, +0.2337, +0.2008, -0.2517, -0.3918, -0.6362, -0.1762, -0.9261, +0.1711, -0.0094],
[ -0.1099, -0.2142, -0.0006, -0.4617, -0.0286, +0.3482, -0.7728, -0.4384, +0.0050, -0.0151, +0.1974, +0.2815, -0.5295, -0.2581, +0.3404, -1.6254, -1.3208, -0.1648, -0.5207, +0.4104, -0.2795, +0.0613, -1.5642, -0.1178, -0.1354, +0.0375, +0.3323, +0.0540, +0.2038, -0.3223, +0.4603, -0.3780],
[ -0.3999, -0.3719, +0.1918, -0.4738, -0.0009, +0.0419, +0.1046, +0.2675, +0.1359, -0.2536, -0.3485, -0.3118, -0.3613, +0.0914, -0.4486, +0.2719, +0.2876, -0.0685, +0.4309, +0.1856, +0.4678, -0.3314, +0.0211, +0.2575, +0.5077, -0.1494, +0.5110, -0.6869, -1.4053, +0.3093, -0.2914, -0.1501],
[ +0.3543, +0.3915, +0.0536, +0.3995, +0.2165, -0.1133, -0.1209, +0.0824, -0.0723, -0.0774, -0.4248, -0.0243, -0.1089, -0.1408, +0.2072, -0.1309, -1.5186, -0.4079, -0.0530, -0.3525, +0.6782, +0.1991, -0.0292, +0.1339, -0.1074, +0.2312, +0.1969, +0.4662, +0.5312, -0.3306, +0.0622, +0.1057],
[ -1.1778, +0.2978, +0.0443, +0.1657, +0.1317, -0.1250, -0.0459, +0.0777, +0.1359, -0.0055, +0.2364, -2.3659, +0.2214, -0.1489, -0.3051, -0.5094, +0.1495, +0.3328, +0.1264, -0.0217, +0.2321, -0.6466, -0.1813, +0.5276, +0.1975, +0.3752, +0.1469, -0.8019, +0.2427, +0.1543, +0.2140, -0.1592],
[ -0.7753, -1.3502, +0.3157, +0.1847, +0.0661, -0.5501, +0.3482, +0.6112, +0.0207, +0.0534, -0.2106, -1.0144, -0.0836, -0.0275, -1.0761, +0.2131, +0.3135, +0.3134, +0.1974, +0.0182, +0.1975, -1.1221, +0.2958, -0.2610, +0.0865, +0.3592, +0.4317, -0.3505, -0.4557, +0.3033, -0.5797, -0.2988],
[ +0.4103, -0.0643, +0.0803, +0.2177, +0.1028, -0.2668, +0.0084, -0.2340, -0.2571, +0.0334, +0.3451, -0.0055, +0.0216, -0.1460, +0.5293, -0.2615, -0.3035, +0.1736, -0.4206, -0.2186, +0.1343, +0.6001, -0.0499, -0.2777, -0.0160, -0.4303, -0.2795, +0.1932, +0.4219, -0.0800, +0.1819, -0.1007],
[ -0.7074, -0.0546, +0.4495, +0.1427, +0.3306, +0.0811, -0.5433, -0.0609, -0.2128, -0.1059, -1.0477, -0.4679, -0.1780, -0.1373, -0.3672, +0.0724, -0.0554, -0.5400, +0.0457, -0.0469, -0.0367, -0.4609, +0.1668, -0.0266, -0.9007, +0.2975, +0.5204, -0.0453, -0.1314, -0.0980, +0.1424, -0.1877],
[ +0.0657, +0.1230, -0.2558, +0.3103, -0.0795, -0.1243, +0.1956, +0.0262, -0.2626, -0.0554, +0.3760, +0.3076, -0.4633, +0.0790, +0.2363, -0.3311, +0.1235, -0.1727, -0.2468, +0.0188, -0.1121, -0.2807, -0.5865, -0.4197, +0.1949, -0.4970, -1.0413, -0.1698, +0.1798, +0.2004, -0.0514, +0.0254],
[ -0.1566, -1.1156, +0.4431, -0.1503, -0.5682, +0.1822, -0.1201, +0.5151, -0.1386, -0.1764, +0.2063, -0.8582, +0.3750, -0.1405, +0.0852, +0.2641, -0.1951, -0.0575, -0.4181, +0.2273, +0.1332, -0.2797, +0.5406, -0.0869, +0.2453, +0.0648, +0.2252, -0.0628, -0.6882, -0.0514, -0.4663, -0.0954],
[ -0.4780, +0.5844, +0.1782, -0.0831, +0.1547, -0.0595, -0.5646, -0.0488, -0.1774, -0.0098, +0.1833, +0.3520, -0.3359, -0.1492, +0.1139, -0.1223, -0.5312, -0.5361, +0.1689, -0.2020, +0.1069, +0.2327, +0.2887, +0.0526, -0.5916, -0.2435, -0.2342, +0.3422, +0.4399, -1.1880, +0.1293, -0.1021],
[ -1.2784, -1.8266, +0.0630, -0.3332, -0.5833, -0.3733, +0.3265, +0.1977, +0.0716, -0.2575, +0.0403, -0.1961, +0.1541, -0.2311, -0.1734, -0.1785, +0.0168, +0.1134, +0.0407, -0.1661, +0.5985, -1.9681, +0.1342, +0.3432, +0.3934, +0.0663, +0.3141, -2.0177, -1.7071, +0.2942, -1.0684, -0.0737],
[ +0.1763, +0.2191, +0.2609, +0.0723, +0.1038, -0.2516, -0.9086, +0.1536, +0.0153, +0.1061, +0.1675, +0.3839, -0.5326, +0.2007, -0.4943, -0.1048, +0.1614, -0.4703, +0.3453, -0.7441, -0.6187, +0.4247, +0.1721, -0.1776, -0.0919, -0.8387, +0.0798, -0.0598, +0.2711, -0.0508, +0.1761, +0.0029],
[ -0.2003, +0.2194, -0.6280, +0.1593, +0.1648, -0.1007, +0.3162, -0.3881, -0.1584, -0.0148, +0.7057, +0.0085, +0.3488, +0.0977, +0.4018, -0.8195, -0.1944, +0.4359, -0.6605, -0.1929, +0.2237, +0.1087, -0.4213, -0.7149, +0.3972, -0.1313, -0.2815, -0.7234, -0.0561, -0.5364, +0.0178, +0.0349],
[ +0.0567, +0.1687, +0.0007, +0.2939, -1.3854, +0.0168, +0.1909, +0.4919, -0.4547, +0.0562, -0.1188, +0.1653, -0.0265, -0.0541, -0.1117, -0.3240, +0.2545, +0.6516, +0.0124, -0.1258, -0.0656, -0.3524, +0.0174, +0.3926, +0.1125, +0.2834, -0.1961, -0.3603, +0.1783, -0.0224, -0.6900, -0.1688],
[ +0.0672, +0.6339, -0.3839, +0.0077, +0.8224, -0.3197, -0.0589, -0.1318, +0.0222, -0.1530, +0.1237, +0.4014, -0.1952, -0.1130, +0.4214, -0.2741, +0.2291, +0.0757, +0.0563, -0.0967, +0.4210, +0.5133, +0.0412, -0.9212, +0.1377, -0.4068, -0.3652, +0.4283, +0.6182, -0.6187, +0.1997, +0.1240],
[ -0.0067, +0.3307, -0.7751, -0.2084, +0.4740, -0.0264, -0.0768, -0.9519, -0.0632, -0.0753, +0.3293, +0.5260, -0.6023, +0.0060, +0.2799, -0.2904, -0.8262, -0.6644, -0.3900, -0.1461, +0.4965, +0.3996, -0.7569, +0.0612, +0.5168, -0.5160, -0.4875, +0.3759, +0.0295, +0.1027, +0.6096, -0.0115],
[ -0.0110, +0.4652, -0.1486, -0.6029, +0.2581, -0.3184, -0.3759, +0.3213, -0.2748, -0.0630, +0.0953, +0.2101, -1.2738, -0.1353, +0.2710, -0.2276, +0.2586, -0.2347, -0.3320, +0.0487, -0.2318, -0.1002, +0.1236, +0.2660, -0.1172, +0.1437, -0.0850, +0.1659, -0.2152, -0.0764, +0.2838, -0.1325],
[ +0.0152, -0.0906, -0.1897, -0.3521, -0.1836, -0.1694, -0.4150, -0.1695, +0.0509, -0.0716, +0.3118, +0.2422, -0.5058, -0.0637, -0.1038, -0.2828, -0.0528, -0.2051, +0.2062, -0.2105, -0.7317, +0.1881, -0.2992, -0.0883, +0.0115, -1.5295, -0.1671, +0.0411, +0.0648, -0.0119, -0.2941, +0.0273],
[ +0.5028, +0.1780, -0.4643, -0.0373, +0.3067, -0.1974, +0.2643, -0.2365, -0.2083, +0.0472, +0.4830, +0.0630, +0.2155, -0.0916, +0.6290, -0.4427, -0.6266, +0.3576, -0.3541, -0.2034, +0.3733, +0.8247, -0.5837, -0.4372, +0.2696, -0.4042, -0.3436, +0.0355, -0.2288, -0.6382, +0.7358, -0.1229]
])
weights_dense2_b = np.array([ -0.0730, +0.0456, +0.0877, -0.2607, +0.0029, -0.2705, -0.1420, +0.2403, -0.2135, -0.0646, +0.1378, +0.1105, -0.4639, -0.0583, -0.0872, -0.1473, +0.1460, -0.0234, +0.0740, -0.0745, -0.1283, +0.0316, +0.0361, -0.0726, -0.0304, +0.0417, -0.0313, +0.0935, +0.0815, +0.0814, +0.0818, -0.1111])
weights_final_w = np.array([
[ +1.0397],
[ +0.7049],
[ -0.2128],
[ +0.2172],
[ +0.3027],
[ -0.1991],
[ +0.3398],
[ -0.5932],
[ -0.1439],
[ -0.0236],
[ +0.5679],
[ +0.8571],
[ +0.1934],
[ -0.1652],
[ +0.6933],
[ -0.5510],
[ -1.0587],
[ +0.6996],
[ -0.5009],
[ -0.4000],
[ -0.6958],
[ +0.7716],
[ -0.5342],
[ -0.5095],
[ +0.3040],
[ -1.1986],
[ -0.4900],
[ +0.7726],
[ +0.5871],
[ -0.2533],
[ +0.2633],
[ -0.0004]
])
weights_final_b = np.array([ +0.0190])
if __name__=="__main__":
demo_run()

174
examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py Normal file
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import gym, roboschool
import numpy as np
import pybullet as p
import pybulletgym.envs
import time
def relu(x):
return np.maximum(x, 0)
class SmallReactivePolicy:
"Simple multi-layer perceptron policy, no internal state"
def __init__(self, observation_space, action_space):
assert weights_dense1_w.shape == (observation_space.shape[0], 64.0)
assert weights_dense2_w.shape == (64.0, 32.0)
assert weights_final_w.shape == (32.0, action_space.shape[0])
def act(self, ob):
x = ob
x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
x = np.dot(x, weights_final_w) + weights_final_b
return x
def demo_run():
env = gym.make("PybulletInvertedPendulumSwingup-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:
frame = 0
score = 0
restart_delay = 0
obs = env.reset()
while 1:
time.sleep(0.05)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
still_open = env.render("human")
if still_open==False:
return
if not done: continue
if restart_delay==0:
print("score=%0.2f in %i frames" % (score, frame))
restart_delay = 60*2 # 2 sec at 60 fps
else:
restart_delay -= 1
if restart_delay > 0: continue
break
weights_dense1_w = np.array([
[ +0.5877, -0.5825, -0.5542, -0.2557, -0.4485, +1.4126, +0.2701, -0.6204, -0.2580, +0.2106, -0.2296, +0.7949, +0.6224, -0.0186, +0.4216, +1.0924, -0.1538, -0.2818, +0.4855, -0.2496, +0.7461, -0.6156, +0.0801, +0.7871, -0.4312, -0.9585, +0.1566, -0.2218, -1.0393, +0.6104, -0.5339, +0.8258, +0.4064, +0.0503, +0.4753, -0.8161, +0.0812, +0.2311, -0.9492, -1.1791, +1.2375, +0.2916, +1.2290, +0.2796, -0.8864, -1.1424, -0.5714, +0.1413, +0.7340, -0.4152, +0.2832, -0.3886, +0.4810, -0.7092, -0.5966, +0.1089, +0.1007, +0.5226, -0.3343, +0.1760, +0.4099, -0.9913, -1.1694, -1.0018],
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[ +0.3427, -0.1801, -0.9729, -0.2763, -0.8175, -0.2292, -0.2283, -1.0905, -0.3877, -0.3596, -0.0185, -0.5790, -0.1083, +0.1029, +0.2087, -0.2265, +0.3843, +0.3569, +0.4135, +0.1367, +0.1019, -0.0472, -0.1326, +0.3414, +0.3957, +0.2921, +0.2106, -0.0877, -0.3301, -1.3795, -1.9779, -0.4937],
[ +0.1940, -0.2997, -0.4792, +0.2675, -0.6258, -0.0457, -0.5112, -0.0076, -0.6497, -0.7706, +0.1871, -0.1602, -0.0135, +0.4243, -0.5747, -0.5883, +0.4021, -0.2582, +0.3381, +0.3950, +0.0503, +0.0106, +0.2930, +0.2948, +0.0231, +0.4963, +0.6190, +0.3516, -0.9469, -0.0323, -0.0254, -0.3314],
[ -0.0666, -0.3086, +0.0050, -0.7425, +0.0498, -0.1735, +0.0643, -0.7302, -0.2838, -0.4926, +0.2588, -1.0888, +0.0914, -0.2110, +0.3146, +0.0769, +0.1527, -0.7908, +0.1144, -0.4159, -0.1099, -0.2469, +0.1520, +0.3110, -0.6905, +0.1466, -0.1214, -0.5032, +0.0486, -0.3263, +0.0748, +0.4858],
[ +0.3977, -0.0844, +0.0825, -0.0687, -0.8396, +0.2654, -0.0521, -0.1041, -0.5838, -0.3881, -0.0133, +0.0767, +0.3582, +0.1250, -0.3787, +0.2232, -1.6387, +0.1836, -0.2685, -0.4428, +0.1816, -0.1108, +0.1340, +0.0555, -0.0085, +0.0386, +0.1277, +0.0295, -0.7560, +0.0657, +0.0095, +0.0913],
[ -0.3619, +0.2578, +0.3163, +0.1775, +0.1437, -0.1839, +0.1491, -0.4246, +0.3383, -0.5554, +0.2321, +0.2196, -0.2709, -0.0673, +0.0790, +0.0549, +0.0146, -1.4400, -0.3682, -0.4452, +0.1132, -0.0693, +0.4161, -0.0508, -0.2573, +0.3547, +0.2300, -0.0433, +0.3701, -0.0716, +0.0865, +0.3202],
[ -0.2407, -0.3514, -0.2882, -0.1980, +0.3598, -0.3302, +0.3311, +0.1154, +0.1423, -0.2290, -0.6468, +0.2341, +0.0219, -0.3510, -0.8240, +0.1463, -0.3198, -0.0513, -0.9552, -0.2212, -0.1091, -0.5052, +0.1874, -0.1514, -0.7181, +0.1132, -0.5173, +0.2874, +0.4601, +0.3317, +0.1209, -0.4715],
[ +0.4039, -0.0515, -0.1019, +0.4119, +0.1023, -0.0505, +0.3062, -0.5871, -0.3284, -0.6936, -0.2142, -0.0067, -0.8245, +0.0604, +0.2082, +0.2818, +0.4094, -1.2403, +0.2902, -0.4497, +0.3492, -0.2630, +0.2257, +0.2616, -0.0756, +0.3950, +0.1607, -0.4299, -0.0042, -0.3791, +0.0144, +0.3923],
[ +0.2782, -0.1456, -0.0002, +0.3011, -0.2252, +0.0572, +0.1349, -0.1567, -0.2850, -0.2994, +0.1602, -0.0868, -0.5167, +0.4240, +0.2210, +0.1657, +0.0883, -0.1288, -0.0227, -0.3949, +0.1043, -0.1381, +0.0739, -0.0357, -0.1723, -0.2657, +0.1199, -0.1253, -0.8570, +0.1793, +0.0042, +0.2571],
[ +0.1808, +0.0781, -0.0530, +0.3645, -0.0659, -0.0229, +0.0723, -0.2956, +0.0014, +0.0886, -0.2523, -1.1491, +0.1169, +0.1121, -0.8267, +0.0281, -0.1044, -0.2294, +0.0513, -0.9215, +0.2674, +0.0013, -0.0650, +0.2553, +0.0816, -0.7934, +0.2155, -1.3771, -0.1983, -0.3055, +0.2549, +0.0883],
[ -0.1989, -0.3779, +0.2484, +0.0978, +0.3002, -0.2595, -0.0993, -0.7726, -0.0245, -0.6115, +0.0579, -0.7989, -0.0208, -0.0149, -1.4722, +0.3503, -0.1758, -0.4039, -1.9504, -0.2489, -0.2551, +0.0146, -0.1026, -0.6208, +0.3920, -0.8281, -0.3682, -0.3127, +0.1773, -0.0195, -0.3558, -0.4386],
[ +0.3965, +0.2776, -0.0051, -0.3705, -0.3877, +0.0462, +0.2481, +0.0638, -0.5678, +0.2069, -0.2101, -0.3165, +0.0694, +0.3458, -1.0740, -0.2276, -0.2802, +0.1290, +0.3323, -0.6620, -1.0497, +0.0449, -1.4877, +0.6505, -0.0039, -0.5675, +0.1965, +0.1813, -0.1576, +0.2611, +0.0413, -0.7096],
[ -0.2771, -0.2090, +0.3171, -1.1884, +0.0306, -0.0635, -0.3072, +0.1631, -0.3107, -0.4344, +0.0475, -1.1032, +0.0050, -1.6227, -0.2919, +0.1205, +0.2610, -0.8912, -0.0364, -0.0302, +0.2187, -0.3477, -0.2162, +0.0541, -0.1731, -0.5533, -1.1136, -0.3114, -0.0904, +0.0234, -0.1263, -0.4608],
[ +0.2534, +0.2506, -0.5988, +0.3239, -0.5094, +0.2584, -0.1520, -0.3674, -0.5281, -0.2938, -0.0664, +0.3468, +0.1871, +0.4229, -1.1005, +0.0895, -0.1058, -0.2018, +0.5277, +0.1065, -2.9736, +0.0834, -0.4339, +0.5220, -0.3065, +0.0976, +0.4859, -0.0876, -0.5134, +0.0273, -0.4311, -0.0629],
[ -1.0013, -0.7660, +0.4058, -3.0321, +0.0533, +0.0794, -1.2917, -1.0423, +0.0235, -0.2441, +0.2986, +0.2793, +0.3185, -0.7738, +0.0709, +0.1806, +0.0065, -0.3429, -0.5904, -0.2240, -0.2247, -0.1551, +0.2479, -0.7799, -0.4368, +0.2717, -0.3030, +0.2230, -0.1252, -0.1713, -0.4256, +0.0946],
[ -0.5044, -0.3197, -0.0715, -0.0414, -0.2140, -0.2098, +0.3549, +0.0071, +0.2459, +0.0855, -0.4905, +0.4785, -0.0644, -0.0442, -0.5088, +0.1229, +0.3045, +0.0949, +0.5608, +0.0035, +0.2524, -0.1201, +0.4582, -0.9841, -0.2432, -0.4455, +0.1591, -0.0743, +0.1235, +0.1924, -0.2510, -0.0401],
[ +0.5910, -0.1650, -0.3341, +0.3136, -0.0819, -0.1846, -0.3609, +0.2772, -0.0841, +0.0612, -1.0691, +0.0500, -0.9307, +0.4375, -0.9497, -0.0597, -0.7687, +0.2086, +0.2169, -0.2657, -0.5765, -0.1814, -1.1223, +0.2315, +0.8662, +0.0936, +0.0851, -1.8539, -0.0759, +0.4064, +0.2069, -0.8922],
[ -0.1478, +0.3415, -0.2042, +0.5568, -0.7672, -0.1465, -0.1311, -0.2273, +0.0602, -0.2321, -0.2689, +0.1515, -1.0434, +0.2948, -0.4986, +0.1426, -0.7398, -0.4810, -0.0648, -0.3290, -0.1646, -0.1314, +0.0100, +0.3540, -0.2790, -0.0118, +0.4205, -0.5476, -0.1409, -0.1341, +0.3308, +0.1991],
[ +0.1532, -0.2862, -1.0844, +0.2213, -1.5302, -0.1382, -0.3119, -1.5098, -0.5984, -0.8033, +0.0835, -0.5982, -0.9022, +0.0325, -0.0693, -0.7834, +0.2342, +0.2223, +0.3314, +0.1252, +0.2134, -0.1843, -0.2085, +0.3213, +0.2308, +0.4200, +0.0852, -0.1438, -0.4427, +0.2863, -0.6166, -0.2677],
[ +0.2118, -0.5590, -0.3589, +0.1854, -1.1902, -0.2337, +0.3533, -0.0890, -0.3013, +0.4551, -0.2130, -1.0383, -0.2290, -0.1976, -1.3175, -0.5657, -0.2857, +0.5560, +0.1437, -0.3211, +0.1788, -0.1494, -1.0336, +0.2679, +0.5221, +0.5256, +0.1761, -0.0573, -0.2895, -0.0307, -0.2395, -0.8144],
[ -0.6139, -1.0856, -0.5362, -1.1959, -0.3413, -0.2647, -0.3687, +0.4510, +0.0818, +0.0710, -0.3482, -0.0611, +0.0474, -0.7248, -0.3042, -0.0303, -0.3762, +0.1941, -0.8735, +0.1872, -0.3612, -0.4090, +0.2817, -0.5842, +0.5135, +0.8080, -0.9240, -0.1925, -0.6654, +0.4267, +0.5304, -0.3396],
[ +0.1054, -0.1771, -0.1990, +0.3935, -0.1743, +0.0638, +0.3047, -0.0899, +0.4220, +0.1633, +0.1666, +0.1688, +0.0731, -0.0455, +0.2421, +0.4481, +0.5427, -0.1530, -0.1694, +0.4192, -0.3225, +0.1410, +0.2042, -2.2442, -0.4848, -0.9054, -0.2178, +0.3965, +0.4502, +0.1305, -0.0444, +0.1641],
[ +0.1336, +0.4509, +0.0056, +0.0940, -0.3145, -0.1580, -0.1152, -0.2864, -0.0145, -0.3372, +0.1072, -0.3662, -0.9957, +0.3660, +0.1886, -0.2086, +0.2193, -0.6053, +0.0879, +0.0350, +0.0216, +0.3407, -0.0691, +0.1355, -0.2493, -1.5064, +0.3744, -0.2654, -0.1921, -0.6361, -0.6030, +0.3290],
[ -0.4868, -0.0926, +0.1334, -0.8699, +0.0689, +0.1350, +0.0003, -1.6050, -0.2677, -0.6097, +0.0119, -1.0122, -0.1318, -0.8405, -0.1366, -0.1088, +0.0375, -1.0216, -0.0891, -0.2447, -0.0060, -0.3751, +0.1240, +0.0514, -0.5080, -1.2536, +0.4369, -0.1020, +0.1563, -0.6330, -2.3150, +0.0109],
[ -0.5112, +0.0425, -0.1887, -0.0305, +0.0264, +0.3452, -0.0750, +0.4954, +0.4284, -0.0069, +0.2399, +0.9169, -0.3441, +0.0420, -0.3492, +0.4726, -0.1203, -0.0110, -1.1251, -0.1880, -0.2703, -0.1990, +0.8598, -0.0085, +0.4910, -0.1798, +0.1495, -0.4904, -0.3907, +0.5274, +0.4777, +0.4670],
[ +0.4048, -0.2962, -0.0535, +0.3467, -0.0456, -0.0875, -0.0220, -0.2064, -0.8052, -0.2940, -0.1660, -1.3446, -0.0124, -0.3980, -0.0199, +0.0871, -0.4781, -1.0247, +0.2848, -0.2992, -0.1778, -0.0626, -0.0618, +0.0792, -0.7679, -1.4193, +0.0787, -0.3910, -0.1448, -0.2650, -0.3079, -1.2104],
[ +0.4581, -0.6689, -0.1144, -0.1282, -2.0230, -0.1221, -0.2954, -1.2605, -1.0560, -0.8669, +0.2610, -0.3799, -0.2883, -0.2970, +0.1364, -1.5987, +0.2303, +0.6106, +0.3841, +0.0955, -0.3148, -0.2655, +0.0052, +0.2312, +0.1658, +0.4766, +0.1847, -0.1055, -0.8075, -0.1123, -0.6706, -0.6556],
[ +0.1192, -0.1971, +0.4472, +0.1296, +0.0370, -0.1341, -0.7736, -0.1778, -0.0172, -0.2200, +0.1248, -0.4126, -0.3722, -0.2830, +0.0294, +0.2753, -0.2527, -1.0083, -0.7886, -1.5356, +0.0627, -0.2736, +0.4009, -0.4766, -0.2815, +0.8060, -0.0681, -0.8295, +0.4980, -0.0494, +0.4414, +0.4709],
[ -0.2893, -0.0060, +0.1617, +0.3636, -0.0534, -0.1653, +0.2161, -0.2260, +0.0668, -0.3423, +0.0087, +0.3678, -0.1448, +0.3106, +0.2831, +0.0889, -0.1325, -0.0667, -0.1139, +0.1482, +0.1164, -0.1613, +0.0733, +0.0005, -0.0419, -0.0656, +0.0986, -0.1560, -0.1506, -0.1254, -0.0902, +0.2643],
[ -0.2274, -0.5965, -0.0342, -0.6827, -0.1276, +0.0802, -1.2401, +0.2169, +0.0531, -0.0964, +0.2187, +0.0299, +0.2797, -0.7842, -0.5032, +0.1321, -0.2005, -0.3383, -0.3343, +0.1237, -0.0915, -0.6670, +0.0473, -0.6602, +0.1260, -1.2568, -0.2235, +0.1255, +0.3263, +0.1078, -0.0685, -0.0085],
[ +0.3530, -0.3798, -0.5576, +0.1040, -0.1875, +0.1399, -0.1539, -1.3570, -0.1105, +0.0370, -0.4067, +0.2991, +0.2811, +0.1082, -0.0573, +0.2104, -0.1550, +0.3365, +0.5019, +0.4842, +0.4671, +0.2578, -0.0029, +0.0016, -0.1533, -0.2459, +0.1866, +0.0699, -0.1873, -1.1082, -0.9151, -0.1758],
[ +0.2397, +0.2045, -0.2370, -0.3293, -0.3153, -0.2131, +0.1407, -0.0721, +0.0723, -0.0019, -0.3940, +0.1340, +0.3550, +0.1190, -0.6068, -0.0747, -0.7712, +0.1922, +0.6519, -0.0651, -0.4332, +0.0494, -0.7192, +0.4279, -0.1762, -0.5548, +0.1749, -0.2149, -0.6916, -0.0448, -0.1025, +0.0212],
[ -0.1101, -0.2853, -0.3405, +0.3059, -0.5009, +0.1139, +0.0602, -0.5256, -0.9340, +0.1189, -0.9900, -0.5092, -1.9114, +0.1249, -0.7890, -1.1437, -0.4686, +0.3687, -0.2993, -0.1058, +0.0966, -0.0284, -0.4845, -0.1683, +0.3489, -0.0173, -0.0521, -0.1265, -0.0182, -0.2870, +0.0246, -1.0009],
[ -0.1411, +0.1840, -0.3968, +0.2893, -0.9532, -0.2235, -0.1156, -0.7018, -0.2859, -0.1742, -0.6094, -0.0247, -1.0472, +0.1916, -0.4825, -0.4209, +0.2371, +0.0900, +0.0646, -0.1665, +0.5168, +0.0670, -0.1779, +0.3494, +0.3035, +0.0548, +0.2939, -0.3871, -0.0828, -0.5370, +0.0804, -0.2175],
[ +0.4992, +0.1187, -0.0464, +0.7284, +0.1106, -0.0542, -0.3548, +0.3451, +0.0281, -0.4796, -0.2282, -0.3789, -0.1253, -0.0824, -0.3919, +0.1890, -0.1683, -2.1362, -0.9594, -0.6882, +0.6158, -0.2412, +0.2336, -0.0142, -0.9257, +0.3819, -0.1836, -0.7676, +0.3713, -0.1364, +0.3317, +0.3696]
])
weights_dense2_b = np.array([ -0.0528, +0.0930, -0.3614, +0.2145, -0.3644, -0.0033, -0.0702, -0.0928, -0.1018, +0.0424, +0.0130, +0.2634, -0.1167, +0.2412, +0.0852, +0.0047, +0.1958, -0.1322, +0.0218, +0.2207, +0.1946, +0.0936, +0.2900, +0.2404, -0.1711, +0.1214, +0.2968, -0.2935, -0.0390, +0.1330, +0.0325, +0.2185])
weights_final_w = np.array([
[ -0.2378],
[ +0.1955],
[ -0.2006],
[ -0.5372],
[ -0.3298],
[ +0.0891],
[ -0.3930],
[ +0.8978],
[ +0.3177],
[ +0.5357],
[ +0.2878],
[ +0.4998],
[ +0.2550],
[ -0.2619],
[ +1.1990],
[ +0.3115],
[ +0.3655],
[ +0.5774],
[ -0.4641],
[ +0.2613],
[ +0.1928],
[ +0.1458],
[ +0.4138],
[ -0.4969],
[ +0.4147],
[ +1.0689],
[ -0.1562],
[ -0.3669],
[ -0.3073],
[ +0.3354],
[ +0.9354],
[ +0.8831]
])
weights_final_b = np.array([ +0.2753])
if __name__=="__main__":
demo_run()

173
examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulum_v0_2017may.py Normal file
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@@ -0,0 +1,173 @@
import gym
import numpy as np
import pybullet as p
import pybulletgym.envs
import time
def relu(x):
return np.maximum(x, 0)
class SmallReactivePolicy:
"Simple multi-layer perceptron policy, no internal state"
def __init__(self, observation_space, action_space):
assert weights_dense1_w.shape == (observation_space.shape[0], 64)
assert weights_dense2_w.shape == (64, 32)
assert weights_final_w.shape == (32, action_space.shape[0])
def act(self, ob):
x = ob
x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
x = np.dot(x, weights_final_w) + weights_final_b
return x
def demo_run():
env = gym.make("PybulletInvertedPendulum-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:
frame = 0
score = 0
restart_delay = 0
obs = env.reset()
while 1:
time.sleep(0.05)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
still_open = env.render("human")
if still_open==False:
return
if not done: continue
if restart_delay==0:
print("score=%0.2f in %i frames" % (score, frame))
restart_delay = 60*2 # 2 sec at 60 fps
else:
restart_delay -= 1
if restart_delay==0: break
weights_dense1_w = np.array([
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])
weights_dense1_b = np.array([ +0.0009, -0.2179, -0.0299, +0.2069, -0.0099, +0.0907, +0.0271, +0.1957, +0.0185, +0.1671, -0.0699, -0.0332, -0.0244, +0.0022, +0.1877, -0.0801, +0.0235, -0.0097, -0.0088, +0.1961, -0.1055, +0.0605, -0.0913, +0.0884, -0.0638, +0.0229, -0.1101, +0.1966, -0.0042, +0.0221, -0.0966, +0.1554, +0.1623, -0.0454, +0.1068, +0.0114, +0.0544, +0.0201, +0.0257, +0.0637, +0.0761, +0.2120, +0.0225, +0.2023, -0.0931, +0.0585, -0.2253, -0.0302, +0.0682, +0.0000, -0.1215, -0.1105, +0.1376, +0.0583, -0.1706, -0.0262, -0.0897, +0.0728, +0.0787, +0.0912, -0.0964, -0.0959, -0.0195, +0.0232])
weights_dense2_w = np.array([
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[ -0.1218, +0.2787, -0.1838, -0.0315, -0.1590, -0.2840, +0.2845, +0.0601, -0.1741, -0.2363, -0.3620, -0.1355, +0.0943, +0.1343, -0.0346, -0.1135, +0.0327, -0.2982, +0.1805, -0.1483, +0.1698, -0.1056, -0.0257, +0.0580, -0.1921, +0.0863, +0.1439, -0.1360, +0.0468, +0.2411, -0.1872, +0.0329],
[ +0.0068, +0.1272, +0.0108, +0.0178, +0.2308, +0.0207, -0.0050, +0.0127, +0.1008, -0.2972, -0.2233, -0.1369, +0.0797, +0.0023, -0.0782, -0.4778, +0.1916, +0.1325, +0.0110, -0.2083, +0.2786, -0.2724, -0.1214, +0.0510, -0.1068, -0.1982, -0.4602, -0.1082, -0.1563, -0.0689, -0.0913, +0.0983],
[ +0.1631, +0.1356, -0.1882, +0.2125, -0.4817, -0.1368, +0.1216, -0.1032, -0.4494, -0.2093, -0.0110, +0.0402, -0.0097, +0.1575, -0.2447, -0.8683, +0.1860, -0.4305, +0.1405, -0.3244, +0.1927, -0.5331, +0.0910, -0.1750, -0.2639, -0.3461, -0.0655, -0.4643, -0.0272, +0.0600, +0.1538, -0.3951],
[ +0.0750, +0.0031, -0.1113, +0.0419, -0.0726, +0.1712, +0.1273, -0.0844, +0.0187, -0.1579, +0.0365, +0.1953, +0.0259, +0.1069, +0.1584, +0.0159, +0.1700, -0.0276, +0.0061, -0.1753, -0.0827, -0.0493, +0.0756, -0.1169, +0.0177, -0.2200, -0.0495, -0.0934, +0.1999, -0.0962, -0.0035, +0.1083],
[ -0.0754, -0.1933, +0.1219, -0.3622, -0.2560, +0.0829, -0.3323, +0.0923, -0.1712, +0.0494, +0.1063, +0.3118, +0.0088, -0.3756, -0.0977, +0.0160, -0.0817, +0.1595, -0.3452, +0.2652, +0.2646, +0.2833, -0.3530, +0.0805, -0.1736, +0.0675, -0.1320, -0.3568, +0.1824, -0.0068, +0.0391, -0.3348],
[ +0.0661, +0.1602, -0.0509, +0.0562, -0.1738, +0.0114, -0.0268, -0.0354, -0.2069, -0.0250, -0.1061, -0.1695, -0.0719, +0.2797, -0.2477, -0.2539, +0.1287, -0.2037, +0.2556, -0.1008, +0.1943, -0.1660, +0.2728, -0.2338, -0.0806, -0.2346, +0.0449, -0.4673, -0.0362, -0.1172, +0.1695, -0.2252],
[ +0.0348, -0.2188, +0.0041, -0.1818, +0.3175, -0.0947, -0.2779, -0.0764, +0.2407, -0.1541, +0.2586, -0.1852, -0.1379, -0.3336, +0.1402, -0.0446, +0.0584, +0.0994, -0.3633, +0.0636, -0.0156, -0.0767, -0.2649, +0.0149, +0.2484, +0.2916, +0.1928, -0.0036, +0.0696, -0.0935, +0.2752, +0.0187],
[ -0.2666, +0.0507, -0.1783, +0.2308, +0.3974, -0.0719, +0.0276, -0.0048, +0.1177, +0.0816, -0.2346, -0.2762, +0.1167, +0.0719, -0.1303, -0.0892, +0.0177, +0.0072, +0.0965, +0.2305, +0.0988, +0.1532, -0.1653, +0.0692, -0.0419, -0.1874, -0.0896, +0.0014, +0.0375, -0.0905, -0.3757, +0.3573],
[ +0.4116, -0.2717, +0.2356, -0.1943, +0.0575, +0.0379, -0.0606, -0.0819, +0.1179, +0.2377, -0.1506, +0.1710, +0.0912, -0.2922, +0.0898, +0.1814, +0.1221, +0.1917, -0.3906, +0.1684, +0.1638, +0.2434, -0.1656, +0.1352, +0.0744, -0.0942, -0.2128, +0.0767, +0.0628, +0.1426, +0.3458, -0.0437],
[ -0.1387, -0.5340, +0.2895, -0.5476, +0.5888, +0.1435, -0.4898, +0.0061, +0.6167, +0.1024, +0.1127, +0.2197, +0.0206, -0.4723, +0.1195, +0.6172, +0.0276, +0.3961, -0.5498, +0.4008, -0.2163, +0.3337, -0.2608, +0.1666, +0.3415, +0.0077, -0.1649, +0.2619, -0.1937, -0.1043, +0.1770, +0.4285],
[ -0.0167, +0.0725, +0.1501, +0.0806, -0.0904, -0.2287, +0.1906, -0.0706, -0.0861, -0.1585, -0.1175, -0.0603, -0.0193, +0.4876, -0.1954, -0.0463, -0.1083, +0.1297, -0.0301, +0.0312, +0.0755, +0.0648, -0.4867, -0.0645, +0.0074, +0.0624, -0.1972, -0.1996, -0.1207, -0.1015, +0.0720, +0.0260],
[ +0.0007, -0.1637, +0.1202, -0.1045, +0.2969, +0.1975, -0.1374, +0.1684, +0.0790, +0.2108, -0.0220, +0.0773, +0.0046, +0.0205, -0.1746, +0.3445, +0.0773, +0.0005, +0.0251, +0.3337, -0.3365, +0.3956, -0.2011, +0.2489, +0.1875, +0.0282, -0.4611, +0.2249, +0.0182, -0.1252, -0.1899, +0.1563],
[ -0.0142, +0.0174, +0.1562, +0.0763, +0.1314, -0.0686, +0.3657, -0.0132, -0.0737, +0.0247, +0.0431, -0.2967, +0.0002, +0.2221, +0.1011, +0.1039, -0.0503, -0.3926, +0.1014, -0.1349, -0.1005, +0.1254, +0.0250, -0.1482, -0.2554, +0.1027, +0.1661, -0.1071, -0.0521, -0.0568, +0.1508, +0.0668],
[ -0.1106, +0.1260, -0.3472, +0.2769, +0.0344, -0.0668, +0.2888, +0.1583, -0.2782, -0.1161, -0.2939, +0.1309, -0.0010, +0.4387, +0.1623, -0.2627, -0.1011, -0.3530, +0.0604, -0.2499, +0.2736, -0.2715, +0.2004, -0.5407, -0.4915, -0.1778, +0.1274, -0.1071, -0.0170, -0.1190, -0.1540, -0.0364],
[ -0.1767, +0.2753, +0.2479, -0.0753, -0.2057, -0.2379, -0.0411, -0.0945, -0.1757, +0.1752, +0.1322, +0.0548, -0.0980, +0.1753, -0.0510, +0.2050, -0.0246, +0.5660, -0.2124, +0.1708, -0.1779, +0.2125, -0.0143, +0.1992, +0.1330, -0.2561, -0.1304, +0.2212, -0.2898, +0.0983, -0.1803, +0.1087],
[ -0.0503, -0.3082, +0.1056, -0.1658, +0.3225, +0.0727, -0.4463, -0.0153, +0.0195, +0.0962, -0.0483, -0.0484, +0.2464, -0.5537, +0.1422, +0.1233, -0.1036, +0.0864, -0.2107, +0.1319, +0.2002, +0.3051, -0.2054, +0.3069, +0.2754, +0.1618, -0.0593, -0.0373, +0.2155, -0.1157, -0.1199, +0.2342],
[ -0.1789, -0.1216, +0.0442, -0.1111, +0.1411, -0.0572, -0.4238, +0.0134, -0.1511, +0.0625, -0.0139, -0.2257, -0.1143, -0.2315, +0.3597, -0.1227, +0.0240, +0.2061, -0.0474, +0.0561, -0.2806, -0.0939, -0.0608, +0.1852, -0.0210, -0.3526, +0.0992, -0.3513, -0.0787, +0.1074, -0.0475, -0.1759],
[ -0.0510, +0.0215, +0.1585, -0.0757, +0.0357, -0.0553, -0.1151, -0.1353, +0.1000, -0.2570, -0.0664, -0.1762, +0.0430, -0.0365, +0.0198, +0.1154, -0.5763, +0.0393, -0.0443, +0.0504, +0.0482, +0.1528, +0.1955, -0.0493, +0.2712, -0.0688, -0.1406, +0.1479, +0.0204, +0.0838, -0.2282, +0.2307],
[ -0.1682, -0.0467, -0.0758, +0.3832, -0.1471, +0.0612, +0.3901, +0.1065, +0.2009, -0.3104, -0.2998, -0.3175, -0.0722, +0.1549, -0.2472, -0.1729, +0.0841, -0.1691, +0.1407, -0.1969, -0.0491, +0.0103, +0.1179, -0.1327, -0.1275, +0.0368, +0.0953, -0.1660, -0.0245, -0.3851, +0.1340, -0.1417],
[ +0.0114, -0.0822, -0.2575, -0.0169, +0.1292, +0.0791, -0.0803, +0.0061, -0.0445, -0.2228, +0.0215, +0.1863, +0.2645, -0.0295, +0.0756, -0.2138, -0.1607, +0.0527, +0.0592, -0.1770, -0.0982, -0.1096, +0.0925, -0.0325, +0.0047, +0.1512, +0.0663, -0.1348, +0.0084, -0.1352, +0.0189, +0.1428],
[ +0.0052, +0.1124, +0.1083, +0.1163, +0.0787, +0.0839, +0.0839, +0.0506, +0.0537, +0.1066, +0.1034, -0.1299, -0.1434, +0.0188, +0.1823, +0.1403, -0.4525, +0.0949, -0.0981, +0.0722, -0.1085, -0.2382, +0.1028, +0.0664, +0.1976, +0.1073, -0.2736, +0.2433, -0.3520, -0.0386, -0.2319, -0.0724],
[ -0.3279, -0.1491, -0.1409, +0.2056, -0.1464, +0.0543, +0.1842, +0.1104, -0.2819, +0.0769, -0.1159, +0.0228, -0.0988, +0.0026, -0.1204, -0.0780, -0.2018, +0.1755, +0.1574, +0.0222, +0.1662, -0.2193, -0.0718, +0.0010, -0.0123, -0.0120, +0.2587, +0.0358, -0.1435, +0.0017, -0.2620, +0.0965],
[ -0.1144, -0.1048, +0.2211, -0.0726, -0.1721, -0.2475, -0.3226, +0.0120, +0.0908, +0.0375, -0.0974, +0.0490, -0.1180, -0.3155, -0.2565, -0.0092, -0.4400, +0.2027, -0.1459, +0.1043, +0.0771, +0.0825, -0.1541, -0.0713, -0.0437, -0.0249, -0.1757, -0.1115, +0.0457, +0.1141, -0.2567, +0.0405],
[ +0.0587, +0.1083, +0.0729, +0.2131, -0.1586, +0.2208, -0.1576, -0.0811, -0.0467, +0.2201, -0.1082, -0.2077, +0.0030, -0.1222, +0.2023, +0.1155, -0.1616, +0.0105, +0.1167, -0.1257, +0.4859, +0.1337, -0.0169, -0.0163, +0.2076, +0.0367, -0.0050, -0.2590, -0.0800, -0.2192, +0.0938, +0.1126],
[ -0.3834, -0.0180, -0.2714, +0.0303, +0.0784, -0.1242, +0.1105, +0.0237, -0.0085, +0.2615, +0.0189, -0.3734, +0.0088, +0.1211, -0.0838, +0.0067, +0.1956, +0.1577, +0.2132, -0.0044, -0.2748, +0.1417, +0.0201, +0.1002, +0.0311, -0.0052, -0.1695, -0.0750, +0.2200, -0.2848, +0.0438, -0.0442],
[ -0.1496, +0.1258, +0.1903, -0.0337, -0.1470, -0.0530, +0.0519, -0.0037, +0.0342, +0.0404, -0.0950, -0.0840, +0.1083, -0.0488, +0.0427, +0.1454, +0.0851, -0.0203, -0.2354, +0.1562, +0.1899, +0.3145, +0.0013, +0.1608, +0.0126, +0.2080, -0.1409, -0.0746, +0.0580, -0.1045, -0.1753, +0.1225],
[ -0.0349, +0.1354, -0.1052, -0.1189, +0.0288, -0.0257, +0.0813, -0.1559, +0.1267, +0.0664, +0.2004, +0.1232, +0.2557, -0.1729, -0.0666, +0.1644, +0.1043, -0.2672, +0.0537, +0.0566, -0.1738, +0.0036, +0.1406, -0.0574, -0.0556, +0.3336, -0.0328, -0.1624, +0.0132, -0.0627, -0.1523, +0.0552],
[ -0.3105, +0.2681, -0.5462, +0.2785, -0.2453, -0.2965, +0.1436, +0.0786, -0.3242, -0.3518, +0.1025, +0.2219, -0.1324, +0.1681, +0.0701, -0.0938, +0.1574, -0.5157, +0.3574, -0.1100, +0.2647, -0.1698, +0.2684, -0.3876, -0.6240, -0.1013, +0.2920, -0.3569, -0.0008, +0.0974, +0.1444, -0.3349],
[ +0.0848, -0.1191, +0.2283, +0.0922, +0.2880, -0.1747, -0.4457, +0.1013, +0.2494, +0.1487, +0.1013, -0.0403, -0.0236, -0.1965, -0.0655, +0.0818, +0.0493, -0.0605, -0.1889, +0.1772, -0.2826, +0.2783, -0.1653, +0.3505, +0.4192, -0.1048, -0.1459, +0.0779, -0.0154, -0.1573, -0.1254, -0.1118],
[ -0.1817, +0.0719, +0.1352, +0.3208, +0.2142, -0.1149, +0.0020, +0.1617, +0.1055, +0.0395, -0.1802, -0.0631, -0.3172, +0.1971, +0.0197, +0.1271, -0.2375, -0.1849, -0.0134, +0.1223, +0.2566, +0.0311, -0.2746, +0.0278, +0.1233, +0.0167, -0.0363, +0.2146, -0.0466, +0.0732, -0.1490, +0.1040],
[ +0.1008, -0.1501, +0.0264, -0.4661, -0.0553, +0.0431, -0.3076, -0.0461, +0.1393, -0.1225, +0.2811, -0.0363, -0.0403, -0.3370, -0.0865, -0.1179, +0.1106, +0.2035, -0.2432, -0.0859, +0.0600, -0.0890, -0.0749, +0.0483, +0.0615, -0.0239, -0.4674, +0.0199, +0.0669, +0.1410, +0.1846, +0.2626],
[ +0.0663, +0.1486, -0.3928, +0.3257, -0.0316, +0.1377, +0.0418, +0.1921, -0.1616, -0.2265, -0.0917, +0.1582, -0.0537, +0.0295, -0.2264, -0.1921, -0.0225, +0.0928, +0.0747, -0.5268, -0.0068, -0.3328, +0.0437, -0.2361, -0.1408, -0.1234, +0.2216, -0.1372, -0.0499, +0.1940, +0.0098, -0.2953],
[ +0.0290, -0.1583, -0.0172, -0.1748, -0.0042, -0.0725, -0.2227, -0.1366, -0.1771, +0.1987, +0.3142, +0.1889, +0.0195, -0.5461, +0.0921, +0.1407, -0.1656, +0.1985, +0.0113, +0.2613, +0.2925, +0.1166, -0.1286, +0.1031, -0.2228, -0.0605, -0.2151, +0.2477, +0.1602, -0.0109, +0.0207, +0.1257],
[ +0.0630, -0.1688, +0.1662, -0.2327, +0.2832, +0.1350, -0.1658, +0.0504, -0.0502, +0.1736, +0.1002, -0.0051, -0.0311, -0.0628, +0.0039, +0.5085, -0.2191, +0.5105, -0.0927, +0.2833, -0.2828, +0.1078, +0.0406, -0.0392, -0.2372, +0.1508, +0.0556, +0.0313, +0.1296, +0.1315, -0.1143, +0.1632]
])
weights_dense2_b = np.array([ -0.0655, +0.0020, +0.0358, -0.0192, +0.0570, +0.0000, +0.0711, -0.0145, +0.0294, +0.0139, -0.0215, -0.0952, +0.0000, +0.0526, -0.0585, +0.0633, -0.0332, +0.0030, +0.0107, +0.0830, +0.0140, +0.0888, -0.1115, -0.0722, +0.0240, +0.0476, -0.0807, -0.0421, +0.0000, -0.0557, -0.0403, +0.0034])
weights_final_w = np.array([
[ -0.0230],
[ +0.0730],
[ -0.2093],
[ +0.0463],
[ -0.1983],
[ -0.0031],
[ +0.2101],
[ -0.0066],
[ -0.1481],
[ -0.1615],
[ -0.1766],
[ +0.1332],
[ -0.0012],
[ +0.2332],
[ -0.0380],
[ -0.3066],
[ -0.1738],
[ -0.2982],
[ +0.0285],
[ -0.1548],
[ +0.2539],
[ -0.2544],
[ +0.2006],
[ -0.4121],
[ -0.2084],
[ -0.0381],
[ +0.2733],
[ -0.3076],
[ +0.0013],
[ +0.0957],
[ -0.1298],
[ -0.1112]
])
weights_final_b = np.array([ +0.0352])
if __name__=="__main__":
demo_run()

286
examples/pybullet/gym/enjoy_TF_PybulletWalker2d_v0_2017may.py Normal file
View File

@@ -0,0 +1,286 @@
import gym
import numpy as np
import pybullet as p
import pybulletgym.envs
import time
def relu(x):
return np.maximum(x, 0)
class SmallReactivePolicy:
"Simple multi-layer perceptron policy, no internal state"
def __init__(self, observation_space, action_space):
assert weights_dense1_w.shape == (observation_space.shape[0], 128)
assert weights_dense2_w.shape == (128, 64)
assert weights_final_w.shape == (64, action_space.shape[0])
def act(self, ob):
x = ob
x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
x = np.dot(x, weights_final_w) + weights_final_b
return x
def demo_run():
env = gym.make("PybulletWalker2d-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:
frame = 0
score = 0
restart_delay = 0
obs = env.reset()
while 1:
time.sleep(0.01)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
still_open = env.render("human")
if still_open==False:
return
if not done: continue
if restart_delay==0:
print("score=%0.2f in %i frames" % (score, frame))
restart_delay = 60*2 # 2 sec at 60 fps
else:
restart_delay -= 1
if restart_delay==0: break
weights_dense1_w = np.array([
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[ -0.2303, -0.3073, +0.0881, -0.0259, +0.1158, -0.1876, -0.4537, -0.1588, -0.0792, -0.2001, +0.0530, -0.2474, +0.1344, +0.2636, +0.1983, -0.9749, +0.1990, -0.0957, -0.5147, -0.2180, +0.1174, +0.1786, +0.1739, -0.3798, -0.0471, +0.1633, -0.1721, -0.0853, +0.2622, +0.2510, -0.0152, -0.1403, -0.4670, -0.0056, +0.1107, -0.6130, +0.0380, +0.2772, +0.2147, +0.4764, +0.2957, -0.1803, +0.0094, -0.0602, +0.0961, +0.1071, -0.1469, +0.3588, +0.1152, +0.2732, -0.0841, +0.1434, -0.8871, +0.1359, +0.4381, -0.3618, -0.1783, +0.0244, -0.3266, +0.2683, +0.0475, +0.2396, +0.2882, +0.2097],
[ -0.3898, +0.1630, +0.1282, -0.3963, -0.4884, -0.4047, +0.2388, -0.1641, -0.2076, -0.5232, -0.0945, +0.0596, +0.4917, -0.9385, -0.6932, +0.0820, -0.1105, +0.1518, -1.0556, +0.2921, -0.1624, -1.1541, -0.3967, -0.0768, +0.2946, -0.1138, -0.6109, +0.4627, -0.0852, -0.4616, -0.3002, +0.3148, +0.4467, -1.3130, +0.0544, -0.6324, -0.2650, +0.4150, -0.0212, -0.6526, +0.0006, +0.1399, +0.3180, +0.2171, -0.2745, +0.1383, +0.3992, -0.1085, -0.8361, +0.4735, +0.3327, -0.2108, -0.1326, +0.1012, -0.1039, -0.7952, -1.0795, -0.8962, +0.2586, -0.1086, -0.1492, +0.1341, +0.4539, +0.0087],
[ -0.7632, -0.3424, -0.8353, +0.2849, +0.4074, +0.3540, -0.0225, -1.0280, -0.0935, -0.1287, -0.9041, -0.2897, -1.2458, -0.9333, -0.3642, +0.1682, -0.0609, -0.3427, -0.8061, +0.0809, -0.0527, +0.2854, +0.0572, -0.9497, -0.1074, -0.4606, -0.3741, -0.1462, -0.0244, +0.1021, -0.1344, -1.4004, +0.2785, +0.0365, +0.0607, -0.0216, +0.2336, +0.2448, +0.3313, +0.0876, -0.0096, -0.0115, +0.2235, +0.1732, +0.0449, +0.2710, -0.4689, +0.3985, +0.3226, -0.4791, +0.1363, -0.2898, -0.2764, +0.2951, +0.1026, +0.2428, +0.4613, -0.6892, -0.6060, +0.0831, +0.0033, +0.0969, +0.1732, +0.1978],
[ -0.4818, -0.4774, -1.1071, +0.3249, +0.2093, +0.0438, -0.9925, -0.4215, +0.0589, -1.1715, +0.0919, +0.0382, -0.8698, -0.4791, -0.7492, -0.8701, +0.0800, +0.0196, -0.7821, +0.1573, +0.5803, -0.1820, -0.0484, +0.3254, +0.1583, +0.2182, -0.2223, -0.5444, -0.6228, -0.7236, -0.1355, +0.2437, -0.0066, +0.2737, +0.2386, -0.4084, -0.8557, +0.2213, -0.6375, +0.2682, -0.1000, -0.3804, -0.0290, -0.0049, -0.3404, -0.4885, -0.1223, -0.2278, -0.4468, +0.0452, -0.4968, -0.1218, +0.3995, -1.0746, -0.7465, -0.3371, +0.4305, -1.6123, -0.1957, -0.1523, +0.1393, -0.8650, -0.1711, -0.3793],
[ -0.1557, -1.0601, -0.4499, -0.1604, -0.5255, -0.4208, -0.6083, +0.3356, -0.0805, +0.2551, +0.0412, -0.1619, +0.2200, -0.8917, -0.4723, -1.0188, +0.4529, -0.0400, -0.0839, +0.0217, -0.3820, +0.3089, +0.2091, +0.1926, +0.0795, +0.1515, +0.1128, -0.3851, -0.1858, +0.3644, +0.2686, -0.1214, +0.5001, -0.9542, +0.0416, -0.0110, -0.8521, +0.2699, -0.7884, -0.0235, -0.6484, +0.3534, -0.7125, +0.2728, +0.0038, -0.3497, +0.2039, +0.2628, +0.4429, +0.2073, -1.0902, -0.1620, +0.3977, +0.5173, -0.4190, -0.5424, +0.1696, +0.4501, -0.1723, +0.3870, +0.3782, -0.4795, -0.0925, +0.1928],
[ -0.1994, +0.0819, -0.9161, -0.0627, -0.3875, -0.1237, -0.3848, +0.1303, -0.5012, -0.0149, -0.0410, +0.9109, -0.0172, +0.2573, -0.0970, +0.1189, -0.2560, +0.2362, -0.0120, -0.0293, +0.0847, -0.2890, +0.1035, -1.1365, -0.6136, +0.0283, -0.6735, -0.3893, -0.2377, +0.1533, -0.1454, +0.4457, +0.0874, -0.6123, +0.0648, -0.0958, +0.3596, -0.9314, -0.0837, +0.4202, -0.2286, -0.3712, +0.0654, -0.1894, +0.7228, -0.0053, +0.2753, +0.1067, +0.2597, -0.0419, -0.5189, -0.0970, +0.3215, +0.0511, +0.1690, -0.5153, -0.7584, -1.0287, +0.6774, +0.2733, -0.0217, -0.5480, -0.0327, +0.0814],
[ -0.0850, -0.2497, -0.2107, -0.2141, +0.3072, +0.3229, -0.1949, +0.1294, -0.2154, -0.5436, -0.2756, +0.1585, -0.3081, -0.2884, +0.0584, +0.3902, +0.5601, -0.0324, -0.8309, +0.0884, +0.4890, +0.2771, +0.1323, +0.2234, -0.5563, +0.2813, -1.1535, +0.3736, -0.8677, +0.2691, +0.1412, +0.4179, +0.3897, -0.2039, +0.0885, -0.2746, -0.3438, +0.6083, +0.1196, +0.6909, +0.3943, -0.4563, -0.2028, +0.3160, +0.4372, -0.3929, -0.6564, -0.2445, -0.3547, -0.0069, +0.3304, +0.2863, +0.0022, -0.6024, +0.0905, -0.0902, +0.3029, -0.2148, +0.3599, +0.3216, +0.5142, -0.8270, +0.3086, +0.2275]
])
weights_dense2_b = np.array([ +0.3157, -0.0138, +0.1347, +0.2792, -0.0769, +0.0847, -0.0819, +0.2974, +0.1350, -0.0025, +0.0698, -0.2427, +0.2004, +0.2309, +0.1715, +0.0219, +0.1258, +0.1784, +0.3261, +0.1711, -0.0779, +0.1550, +0.1433, +0.0774, -0.1676, -0.0443, -0.1684, +0.1624, +0.0597, +0.0358, +0.1652, +0.1075, +0.0770, +0.1979, +0.1490, -0.0719, +0.1036, +0.0766, +0.2915, -0.1048, +0.1366, +0.0610, +0.2238, +0.1660, +0.0433, +0.3754, -0.0812, -0.0851, +0.2820, +0.2110, +0.0232, -0.0167, -0.2433, -0.0042, +0.2591, -0.0215, +0.0927, +0.1470, -0.0324, +0.2150, -0.1883, +0.0956, +0.1331, +0.2330])
weights_final_w = np.array([
[ +0.0101, -0.1948, +0.2128, -0.4291, +0.4975, +0.0586],
[ +0.1211, -0.3286, -0.5959, +0.2402, +0.2022, +0.0405],
[ -0.0318, +0.3342, +0.1579, -0.4639, -0.4456, -0.2342],
[ +0.0856, +0.0638, +0.3259, +0.2046, -0.4004, +0.4999],
[ -0.6462, -0.0369, -1.1351, +0.9906, +0.0352, -0.6781],
[ -0.3719, -0.1071, +0.3581, +0.5559, +0.1965, -0.3970],
[ +0.0816, -0.1766, -0.6672, +0.0872, -0.5773, -0.3138],
[ -0.0914, +0.1054, +0.0728, +0.5491, +0.4499, +0.1875],
[ +0.2443, +0.0085, -0.2355, +0.3129, -0.1762, -0.0077],
[ -0.1181, -0.6764, +0.4602, +0.1629, +0.0420, +0.2435],
[ +0.0605, +0.0850, -0.6874, -0.0096, +0.4599, -0.2271],
[ +0.5245, -0.2946, -0.1789, +0.5927, +0.0829, +0.5251],
[ +0.4504, -0.4831, +0.0163, +0.0061, +0.5226, -0.4811],
[ +0.5086, -0.2366, +0.0043, -0.1165, -0.2790, -0.5078],
[ +0.1296, +0.0196, +0.1396, -0.1705, +0.2290, -0.2673],
[ -0.0323, -0.1554, +0.4492, -0.6847, +0.0767, +0.0235],
[ -0.0142, +0.3304, -0.2269, +0.0771, +0.2548, -0.0215],
[ -0.3389, +0.0605, -0.1767, +0.1649, +0.3932, +0.4187],
[ +0.0447, -0.2753, +0.7056, -0.3268, -0.4054, +0.3856],
[ +0.3863, +0.0820, +0.1836, -0.1025, -0.0837, +0.3728],
[ +0.1172, +0.2514, -0.2447, -0.0147, +0.3737, -0.1232],
[ +0.4822, -0.1587, +0.0189, +0.1085, -0.2107, +0.1819],
[ -0.3112, +0.2384, -0.0983, +0.3085, +0.3343, -0.1824],
[ +0.1329, -0.7842, +0.5067, -0.1467, +0.6028, -0.1696],
[ +0.0913, -0.2866, +0.1866, +0.0102, -0.2893, +0.1818],
[ -0.0842, +0.0903, +0.0537, +0.2681, +0.6005, -0.3763],
[ +0.4081, -0.5070, -0.2256, +0.4282, -0.2310, +0.0178],
[ +0.1979, +0.1552, +0.7038, -0.0276, +0.1008, +0.4311],
[ +0.0105, +0.0500, -0.5326, -0.1960, -0.0029, +0.7599],
[ +0.0132, +0.1029, +0.0586, +0.2432, -0.0545, -0.3576],
[ -0.1861, +0.2730, -0.1026, +0.2567, +0.1899, +0.0994],
[ +0.2804, +0.4976, +0.0234, -0.0693, +0.1044, -0.1782],
[ +0.1651, -0.0445, -0.1732, -0.1439, +0.1910, -0.2900],
[ +0.0575, +0.0506, -0.5541, -0.0837, +0.1331, +0.0596],
[ -0.5366, -0.2095, +0.2158, +0.1478, +0.1552, -0.2847],
[ -0.2239, -0.5064, +0.2553, +0.6997, -0.2814, -0.5053],
[ -0.5875, -0.2929, -0.3054, +0.4141, +0.0547, +0.2617],
[ +0.4712, +0.1022, +0.2665, +0.1481, +0.2837, +0.3440],
[ +0.3937, +0.3063, +0.4430, -0.5654, +0.0932, -0.1030],
[ +0.0561, +0.7068, +0.1140, -0.0612, +0.1575, -0.4454],
[ -0.4082, -0.3756, -0.0447, +0.5955, +0.2170, +0.2459],
[ +0.3779, +0.1477, -0.2120, -0.3360, -0.3584, +0.1333],
[ -0.1877, +0.1041, -0.2141, -0.0261, +0.0121, +0.5809],
[ +0.5229, +0.3220, +0.4367, -0.1934, +0.0125, +0.3250],
[ -0.0197, -0.0964, +0.6821, +0.0876, +0.1429, -0.2392],
[ -0.3900, +0.3254, -0.1975, +0.2021, -0.4072, +0.2072],
[ +0.2660, -0.2046, +0.2172, +0.2520, +0.1637, -0.0179],
[ -0.0649, -0.0451, +0.0873, +0.0077, -0.3684, -0.0634],
[ +0.1304, +0.2106, +0.0804, +0.0554, -0.2718, -0.4081],
[ +0.3119, +0.1979, -0.2498, +0.0328, +0.2566, +0.2054],
[ +0.0622, +0.2239, -0.7600, -0.2464, -0.3213, -0.4771],
[ -0.3352, +0.4833, +0.0830, +0.3854, -0.0733, -0.0983],
[ +0.2465, +0.0722, -0.0776, +0.2516, +0.5810, +0.5918],
[ -0.2167, -0.2138, +0.2410, -0.3535, -0.4878, -0.4168],
[ -0.0991, +0.4950, +0.0633, +0.2891, -0.5150, +0.1257],
[ -0.0267, -0.5339, -0.2769, -0.0796, +0.0055, -0.2304],
[ +0.2994, +0.3536, -0.3556, +0.3602, -0.1715, -0.3168],
[ +0.1544, -0.5746, -0.1126, -0.4654, +0.1188, -0.0478],
[ +0.4130, -0.7358, +0.0469, +0.0414, -0.0352, -0.5242],
[ -0.3941, +0.6807, +0.0670, +0.6347, +0.0394, +0.2293],
[ -0.0101, +0.1363, +0.6806, -0.1179, +0.1445, -0.0643],
[ -0.5794, +0.1603, -0.3438, -0.5360, -0.0372, +0.1549],
[ -0.0897, +1.1163, +0.4080, +0.1319, +0.1437, +0.0088],
[ +0.2344, +0.4274, -0.1515, +0.0379, -0.2166, -0.0852]
])
weights_final_b = np.array([ +0.0090, +0.2404, +0.1022, +0.1035, +0.0621, -0.0160])
if __name__=="__main__":
demo_run()

233
examples/pybullet/gym/envs/gym_forward_walkers.py Normal file
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@@ -0,0 +1,233 @@
from distutils.command.config import config
from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene
from pybulletgym.envs.scene_stadium import SinglePlayerStadiumScene
from gym_mujoco_xml_env import PybulletMujocoXmlEnv
import gym, gym.spaces, gym.utils, gym.utils.seeding
import numpy as np
import os, sys
class PybulletForwardWalkersBase(PybulletMujocoXmlEnv):
def __init__(self, fn, robot_name, action_dim, obs_dim, power):
PybulletMujocoXmlEnv.__init__(self, fn, robot_name, action_dim, obs_dim)
self.power = power
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
def create_single_player_scene(self):
self.stadium_scene = SinglePlayerStadiumScene(gravity=9.8, timestep=0.0165/4, frame_skip=4)
return self.stadium_scene
def robot_specific_reset(self):
for j in self.ordered_joints:
j.reset_current_position(self.np_random.uniform( low=-0.1, high=0.1 ), 0)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.stadium_scene.ground_plane_mjcf)
self.feet = [self.parts[f] for f in self.foot_list]
self.feet_contact = np.array([0.0 for f in self.foot_list], dtype=np.float32)
self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in self.foot_ground_object_names])
self.scene.actor_introduce(self)
self.initial_z = None
def move_robot(self, init_x, init_y, init_z):
"Used by multiplayer stadium to move sideways, to another running lane."
self.cpp_robot.query_position()
pose = self.cpp_robot.root_part.pose()
pose.move_xyz(init_x, init_y, init_z) # Works because robot loads around (0,0,0), and some robots have z != 0 that is left intact
self.cpp_robot.set_pose(pose)
def apply_action(self, a):
assert( np.isfinite(a).all() )
for n,j in enumerate(self.ordered_joints):
j.set_motor_torque( self.power*j.power_coef*float(np.clip(a[n], -1, +1)) )
def calc_state(self):
j = np.array([j.current_relative_position() for j in self.ordered_joints], dtype=np.float32).flatten()
# even elements [0::2] position, scaled to -1..+1 between limits
# odd elements [1::2] angular speed, scaled to show -1..+1
self.joint_speeds = j[1::2]
self.joints_at_limit = np.count_nonzero(np.abs(j[0::2]) > 0.99)
body_pose = self.robot_body.pose()
parts_xyz = np.array( [p.pose().xyz() for p in self.parts.values()] ).flatten()
self.body_xyz = (parts_xyz[0::3].mean(), parts_xyz[1::3].mean(), body_pose.xyz()[2]) # torso z is more informative than mean z
self.body_rpy = body_pose.rpy()
z = self.body_xyz[2]
r, p, yaw = self.body_rpy
if self.initial_z==None:
self.initial_z = z
self.walk_target_theta = np.arctan2( self.walk_target_y - self.body_xyz[1], self.walk_target_x - self.body_xyz[0] )
self.walk_target_dist = np.linalg.norm( [self.walk_target_y - self.body_xyz[1], self.walk_target_x - self.body_xyz[0]] )
angle_to_target = self.walk_target_theta - yaw
rot_speed = np.array(
[[np.cos(-yaw), -np.sin(-yaw), 0],
[np.sin(-yaw), np.cos(-yaw), 0],
[ 0, 0, 1]]
)
vx, vy, vz = np.dot(rot_speed, self.robot_body.speed()) # rotate speed back to body point of view
more = np.array([
z-self.initial_z,
np.sin(angle_to_target), np.cos(angle_to_target),
0.3*vx, 0.3*vy, 0.3*vz, # 0.3 is just scaling typical speed into -1..+1, no physical sense here
r, p], dtype=np.float32)
return np.clip( np.concatenate([more] + [j] + [self.feet_contact]), -5, +5)
def calc_potential(self):
# progress in potential field is speed*dt, typical speed is about 2-3 meter per second, this potential will change 2-3 per frame (not per second),
# all rewards have rew/frame units and close to 1.0
return - self.walk_target_dist / self.scene.dt
electricity_cost = -2.0 # cost for using motors -- this parameter should be carefully tuned against reward for making progress, other values less improtant
stall_torque_cost = -0.1 # cost for running electric current through a motor even at zero rotational speed, small
foot_collision_cost = -1.0 # touches another leg, or other objects, that cost makes robot avoid smashing feet into itself
foot_ground_object_names = set(["floor"]) # to distinguish ground and other objects
joints_at_limit_cost = -0.1 # discourage stuck joints
def _step(self, a):
if not self.scene.multiplayer: # if multiplayer, action first applied to all robots, then global step() called, then _step() for all robots with the same actions
self.apply_action(a)
self.scene.global_step()
state = self.calc_state() # also calculates self.joints_at_limit
alive = float(self.alive_bonus(state[0]+self.initial_z, self.body_rpy[1])) # state[0] is body height above ground, body_rpy[1] is pitch
done = alive < 0
if not np.isfinite(state).all():
print("~INF~", state)
done = True
potential_old = self.potential
self.potential = self.calc_potential()
progress = float(self.potential - potential_old)
feet_collision_cost = 0.0
for i,f in enumerate(self.feet):
contact_ids = set((x[2], x[4]) for x in f.contact_list())
#print("CONTACT OF '%s' WITH %s" % (f.name, ",".join(contact_names)) )
self.feet_contact[i] = 1.0 if (self.ground_ids & contact_ids) else 0.0
if contact_ids - self.ground_ids:
feet_collision_cost += self.foot_collision_cost
electricity_cost = self.electricity_cost * float(np.abs(a*self.joint_speeds).mean()) # let's assume we have DC motor with controller, and reverse current braking
electricity_cost += self.stall_torque_cost * float(np.square(a).mean())
joints_at_limit_cost = float(self.joints_at_limit_cost * self.joints_at_limit)
self.rewards = [
alive,
progress,
electricity_cost,
joints_at_limit_cost,
feet_collision_cost
]
self.HUD(state, a, done)
return state, sum(self.rewards), bool(done), {}
def camera_adjust(self):
x, y, z = self.body_xyz
self.camera_x = 0.98*self.camera_x + (1-0.98)*x
self.camera.move_and_look_at(self.camera_x, y-2.0, 1.4, x, y, 1.0)
class PybulletHopper(PybulletForwardWalkersBase):
foot_list = ["foot"]
def __init__(self):
PybulletForwardWalkersBase.__init__(self, "hopper.xml", "torso", action_dim=3, obs_dim=15, power=0.75)
def alive_bonus(self, z, pitch):
return +1 if z > 0.8 and abs(pitch) < 1.0 else -1
class PybulletWalker2d(PybulletForwardWalkersBase):
foot_list = ["foot", "foot_left"]
def __init__(self):
PybulletForwardWalkersBase.__init__(self, "walker2d.xml", "torso", action_dim=6, obs_dim=22, power=0.40)
def alive_bonus(self, z, pitch):
return +1 if z > 0.8 and abs(pitch) < 1.0 else -1
def robot_specific_reset(self):
PybulletForwardWalkersBase.robot_specific_reset(self)
for n in ["foot_joint", "foot_left_joint"]:
self.jdict[n].power_coef = 30.0
class PybulletHalfCheetah(PybulletForwardWalkersBase):
foot_list = ["ffoot", "fshin", "fthigh", "bfoot", "bshin", "bthigh"] # track these contacts with ground
def __init__(self):
PybulletForwardWalkersBase.__init__(self, "half_cheetah.xml", "torso", action_dim=6, obs_dim=26, power=0.90)
def alive_bonus(self, z, pitch):
# Use contact other than feet to terminate episode: due to a lot of strange walks using knees
return +1 if np.abs(pitch) < 1.0 and not self.feet_contact[1] and not self.feet_contact[2] and not self.feet_contact[4] and not self.feet_contact[5] else -1
def robot_specific_reset(self):
PybulletForwardWalkersBase.robot_specific_reset(self)
self.jdict["bthigh"].power_coef = 120.0
self.jdict["bshin"].power_coef = 90.0
self.jdict["bfoot"].power_coef = 60.0
self.jdict["fthigh"].power_coef = 140.0
self.jdict["fshin"].power_coef = 60.0
self.jdict["ffoot"].power_coef = 30.0
class PybulletAnt(PybulletForwardWalkersBase):
foot_list = ['front_left_foot', 'front_right_foot', 'left_back_foot', 'right_back_foot']
def __init__(self):
PybulletForwardWalkersBase.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=10.5)
def alive_bonus(self, z, pitch):
return +1 if z > 0.26 else -1 # 0.25 is central sphere rad, die if it scrapes the ground
## 3d Humanoid ##
class PybulletHumanoid(PybulletForwardWalkersBase):
self_collision = True
foot_list = ["right_foot", "left_foot"] # "left_hand", "right_hand"
def __init__(self):
PybulletForwardWalkersBase.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=44, power=0.41)
# 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25
self.electricity_cost = 4.25*PybulletForwardWalkersBase.electricity_cost
self.stall_torque_cost = 4.25*PybulletForwardWalkersBase.stall_torque_cost
def robot_specific_reset(self):
PybulletForwardWalkersBase.robot_specific_reset(self)
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]
# if self.random_yaw: # TODO: Make leaning work as soon as the rest works
# cpose = cpp_household.Pose()
# yaw = self.np_random.uniform(low=-3.14, high=3.14)
# if self.random_lean and self.np_random.randint(2)==0:
# cpose.set_xyz(0, 0, 1.4)
# if self.np_random.randint(2)==0:
# pitch = np.pi/2
# cpose.set_xyz(0, 0, 0.45)
# else:
# pitch = np.pi*3/2
# cpose.set_xyz(0, 0, 0.25)
# roll = 0
# cpose.set_rpy(roll, pitch, yaw)
# else:
# cpose.set_xyz(0, 0, 1.4)
# cpose.set_rpy(0, 0, yaw) # just face random direction, but stay straight otherwise
# self.cpp_robot.set_pose_and_speed(cpose, 0,0,0)
self.initial_z = 0.8
random_yaw = False
random_lean = False
def apply_action(self, a):
assert( np.isfinite(a).all() )
force_gain = 1
for i, m, power in zip(range(17), self.motors, self.motor_power):
m.set_motor_torque( float(force_gain * power*self.power*a[i]) )
#m.set_motor_torque(float(force_gain * power * self.power * np.clip(a[i], -1, +1)))
def alive_bonus(self, z, pitch):
return +2 if z > 0.78 else -1 # 2 here because 17 joints produce a lot of electricity cost just from policy noise, living must be better than dying

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examples/pybullet/gym/envs/gym_manipulators.py Normal file
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from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene
from gym_mujoco_xml_env import PybulletMujocoXmlEnv
import gym, gym.spaces, gym.utils, gym.utils.seeding
import numpy as np
import os, sys
class PybulletReacher(PybulletMujocoXmlEnv):
def __init__(self):
PybulletMujocoXmlEnv.__init__(self, 'reacher.xml', 'body0', action_dim=2, obs_dim=9)
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=0.0, timestep=0.0165, frame_skip=1)
TARG_LIMIT = 0.27
def robot_specific_reset(self):
self.jdict["target_x"].reset_current_position(self.np_random.uniform( low=-self.TARG_LIMIT, high=self.TARG_LIMIT ), 0)
self.jdict["target_y"].reset_current_position(self.np_random.uniform( low=-self.TARG_LIMIT, high=self.TARG_LIMIT ), 0)
self.fingertip = self.parts["fingertip"]
self.target = self.parts["target"]
self.central_joint = self.jdict["joint0"]
self.elbow_joint = self.jdict["joint1"]
self.central_joint.reset_current_position(self.np_random.uniform( low=-3.14, high=3.14 ), 0)
self.elbow_joint.reset_current_position(self.np_random.uniform( low=-3.14, high=3.14 ), 0)
def apply_action(self, a):
assert( np.isfinite(a).all() )
self.central_joint.set_motor_torque( 0.05*float(np.clip(a[0], -1, +1)) )
self.elbow_joint.set_motor_torque( 0.05*float(np.clip(a[1], -1, +1)) )
def calc_state(self):
theta, self.theta_dot = self.central_joint.current_relative_position()
self.gamma, self.gamma_dot = self.elbow_joint.current_relative_position()
target_x, _ = self.jdict["target_x"].current_position()
target_y, _ = self.jdict["target_y"].current_position()
self.to_target_vec = np.array(self.fingertip.pose().xyz()) - np.array(self.target.pose().xyz())
return np.array([
target_x,
target_y,
self.to_target_vec[0],
self.to_target_vec[1],
np.cos(theta),
np.sin(theta),
self.theta_dot,
self.gamma,
self.gamma_dot,
])
def calc_potential(self):
return -100 * np.linalg.norm(self.to_target_vec)
def _step(self, a):
assert(not self.scene.multiplayer)
self.apply_action(a)
self.scene.global_step()
state = self.calc_state() # sets self.to_target_vec
potential_old = self.potential
self.potential = self.calc_potential()
electricity_cost = (
-0.10*(np.abs(a[0]*self.theta_dot) + np.abs(a[1]*self.gamma_dot)) # work torque*angular_velocity
-0.01*(np.abs(a[0]) + np.abs(a[1])) # stall torque require some energy
)
stuck_joint_cost = -0.1 if np.abs(np.abs(self.gamma)-1) < 0.01 else 0.0
self.rewards = [float(self.potential - potential_old), float(electricity_cost), float(stuck_joint_cost)]
self.HUD(state, a, False)
return state, sum(self.rewards), False, {}
def camera_adjust(self):
x, y, z = self.fingertip.pose().xyz()
x *= 0.5
y *= 0.5
self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
class PybulletPusher(PybulletMujocoXmlEnv):
def __init__(self):
PybulletMujocoXmlEnv.__init__(self, 'pusher.xml', 'body0', action_dim=7, obs_dim=5)
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.81, timestep=0.0020, frame_skip=5)
def robot_specific_reset(self):
self.fingertip = self.parts["fingertip"]
# qpos = self.init_qpos
self.goal_pos = np.asarray([0, 0])
while True:
self.cylinder_pos = np.concatenate([
self.np_random.uniform(low=-0.3, high=0, size=1),
self.np_random.uniform(low=-0.2, high=0.2, size=1)])
if np.linalg.norm(self.cylinder_pos - self.goal_pos) > 0.17:
break
# This is probably position setting
# qpos[-4:-2] = self.cylinder_pos
# qpos[-2:] = self.goal_pos
# qvel = self.init_qvel + self.np_random.uniform(low=-0.005,
# high=0.005, size=self.model.nv)
# qvel[-4:] = 0
# self.set_state(qpos, qvel)
def apply_action(self, a):
assert( np.isfinite(a).all() )
def calc_state(self):
return np.concatenate([
np.array([j.current_position() for j in self.ordered_joints]).flatten(), # position
np.array([j.current_relative_position() for j in self.ordered_joints]).flatten(), # speed
self.parts["fingertip"].pose().xyz(),
self.parts["object"].pose().xyz(),
self.parts["goal"].pose().xyz(),
])
def _step(self, a):
self.apply_action(a)
self.scene.global_step()
state = self.calc_state()
reward_near_vec = self.parts["object"].pose().xyz() - self.parts["fingertip"].pose().xyz()
reward_dist_vec = self.parts["object"].pose().xyz() - self.parts["goal"].pose().xyz()
reward_near = - np.linalg.norm(reward_near_vec)
reward_dist = - np.linalg.norm(reward_dist_vec)
reward_ctrl = - np.square(a).sum()
reward = reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near
done = False
return state, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
def camera_adjust(self):
x, y, z = self.fingertip.pose().xyz()
x *= 0.5
y *= 0.5
self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
class PybulletStriker(PybulletMujocoXmlEnv):
def __init__(self):
PybulletMujocoXmlEnv.__init__(self, 'striker.xml', 'body0', action_dim=7, obs_dim=5)
self._striked = False
self._min_strike_dist = np.inf
self.strike_threshold = 0.1
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.81, timestep=0.0020, frame_skip=5)
def robot_specific_reset(self):
self.fingertip = self.parts["fingertip"]
self._min_strike_dist = np.inf
self._striked = False
self._strike_pos = None
# reset position of manipulator
for j in self.ordered_joints:
j.reset_current_position(self.np_random.uniform( low=-0.1, high=0.1 ))
# reset speed of manipulator
# reset ball position
# qpos = self.init_qpos
self.ball = np.array([0.5, -0.175])
while True:
self.goal = np.concatenate([
self.np_random.uniform(low=0.15, high=0.7, size=1),
self.np_random.uniform(low=0.1, high=1.0, size=1)])
if np.linalg.norm(self.ball - self.goal) > 0.17:
break
# This is probably position setting
# qpos[-9:-7] = [self.ball[1], self.ball[0]]
# qpos[-7:-5] = self.goal
# diff = self.ball - self.goal
# angle = -np.arctan(diff[0] / (diff[1] + 1e-8))
# qpos[-1] = angle / 3.14
# qvel = self.init_qvel + self.np_random.uniform(low=-.1, high=.1,
# size=self.model.nv)
# qvel[7:] = 0
# self.set_state(qpos, qvel)
def apply_action(self, a):
assert( np.isfinite(a).all() )
def calc_state(self):
return np.concatenate([
np.array([j.current_position() for j in self.ordered_joints]).flatten(), # position
np.array([j.current_relative_position() for j in self.ordered_joints]).flatten(), # speed
self.parts["fingertip"].pose().xyz(),
self.parts["object"].pose().xyz(),
self.parts["goal"].pose().xyz(),
])
def _step(self, a):
self.apply_action(a)
self.scene.global_step()
state = self.calc_state()
dist_object_finger = self.parts["object"].pose().xyz() - self.parts["fingertip"].pose().xyz()
reward_dist_vec = self.parts["object"].pose().xyz() - self.parts["goal"].pose().xyz()
self._min_strike_dist = min(self._min_strike_dist, np.linalg.norm(reward_dist_vec))
if np.linalg.norm(dist_object_finger) < self.strike_threshold:
self._striked = True
self._strike_pos = self.parts["fingertip"].pose().xyz()
if self._striked:
reward_near_vec = self.parts["object"].pose().xyz() - self._strike_pos
else:
reward_near_vec = self.parts["object"].pose().xyz() - self.parts["fingertip"].pose().xyz()
reward_near = - np.linalg.norm(reward_near_vec)
reward_dist = - np.linalg.norm(self._min_strike_dist)
reward_ctrl = - np.square(a).sum()
reward = 3 * reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near
done = False
return state, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
def camera_adjust(self):
x, y, z = self.fingertip.pose().xyz()
x *= 0.5
y *= 0.5
self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
class PybulletThrower(PybulletMujocoXmlEnv):
def __init__(self):
PybulletMujocoXmlEnv.__init__(self, 'thrower.xml', 'body0', action_dim=7, obs_dim=5)
self._ball_hit_ground = False
self._ball_hit_location = None
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=0.0, timestep=0.0020, frame_skip=5)
def robot_specific_reset(self):
self.fingertip = self.parts["fingertip"]
self._ball_hit_ground = False
self._ball_hit_location = None
# reset position of manipulator
for j in self.ordered_joints:
j.reset_current_position(self.np_random.uniform( low=-0.1, high=0.1 ))
# reset speed of manipulator
# This is probably position setting
# qpos = self.init_qpos
# self.goal = np.array([self.np_random.uniform(low=-0.3, high=0.3),
# self.np_random.uniform(low=-0.3, high=0.3)])
#
# qpos[-9:-7] = self.goal
# qvel = self.init_qvel + self.np_random.uniform(low=-0.005,
# high=0.005, size=self.model.nv)
# qvel[7:] = 0
# self.set_state(qpos, qvel)
def apply_action(self, a):
assert( np.isfinite(a).all() )
def calc_state(self):
return np.concatenate([
np.array([j.current_position() for j in self.ordered_joints]).flatten(), # position
np.array([j.current_relative_position() for j in self.ordered_joints]).flatten(), # speed
self.parts["fingertip"].pose().xyz(),
self.parts["ball"].pose().xyz(),
self.parts["goal"].pose().xyz(),
])
def _step(self, a):
self.apply_action(a)
self.scene.global_step()
state = self.calc_state()
ball_xy = self.parts["ball"].pose().xyz()[:2]
goal_xy = self.parts["goal"].pose().xyz()[:2]
if not self._ball_hit_ground and self.parts["ball"].pose().xyz()[2] < -0.25:
self._ball_hit_ground = True
self._ball_hit_location = self.parts["ball"].pose().xyz()
if self._ball_hit_ground:
ball_hit_xy = self._ball_hit_location[:2]
reward_dist = -np.linalg.norm(ball_hit_xy - goal_xy)
else:
reward_dist = -np.linalg.norm(ball_xy - goal_xy)
reward_ctrl = - np.square(a).sum()
reward = reward_dist + 0.002 * reward_ctrl
done = False
return state, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
def camera_adjust(self):
x, y, z = self.fingertip.pose().xyz()
x *= 0.5
y *= 0.5
self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)

246
examples/pybullet/gym/envs/gym_mujoco_xml_env.py Normal file
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import gym, gym.spaces, gym.utils, gym.utils.seeding
import numpy as np
import pybullet as p
import os
class PybulletMujocoXmlEnv(gym.Env):
"""
Base class for MuJoCo .xml actors in a Scene.
These environments create single-player scenes and behave like normal Gym environments, if
you don't use multiplayer.
"""
metadata = {
'render.modes': ['human', 'rgb_array'],
'video.frames_per_second': 60
}
self_collision = False
def __init__(self, model_xml, robot_name, action_dim, obs_dim):
self.scene = None
self.parts = None
self.jdict = None
self.ordered_joints = None
self.robot_body = None
high = np.ones([action_dim])
self.action_space = gym.spaces.Box(-high, high)
high = np.inf*np.ones([obs_dim])
self.observation_space = gym.spaces.Box(-high, high)
self._seed()
self.model_xml = model_xml
self.robot_name = robot_name
self.camera = Camera()
def _seed(self, seed=None):
self.np_random, seed = gym.utils.seeding.np_random(seed)
return [seed]
def addToScene(self, bodies):
if self.parts is not None:
parts = self.parts
else:
parts = {}
if self.jdict is not None:
joints = self.jdict
else:
joints = {}
if self.ordered_joints is not None:
ordered_joints = self.ordered_joints
else:
ordered_joints = []
dump = 0
for i in range(len(bodies)):
if p.getNumJoints(bodies[i]) == 0:
part_name, robot_name = p.getBodyInfo(bodies[i], 0)
robot_name = robot_name.decode("utf8")
part_name = part_name.decode("utf8")
parts[part_name] = BodyPart(part_name, bodies, i, -1)
for j in range(p.getNumJoints(bodies[i])):
_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
joint_name = joint_name.decode("utf8")
part_name = part_name.decode("utf8")
if dump: print("ROBOT PART '%s'" % part_name)
if dump: print("ROBOT JOINT '%s'" % joint_name) # limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((joint_name,) + j.limits()) )
parts[part_name] = BodyPart(part_name, bodies, i, j)
if part_name == self.robot_name:
self.robot_body = parts[part_name]
if i == 0 and j == 0 and self.robot_body is None: # if nothing else works, we take this as robot_body
parts[self.robot_name] = BodyPart(self.robot_name, bodies, 0, -1)
self.robot_body = parts[self.robot_name]
if joint_name[:6] == "ignore":
Joint(joint_name, bodies, i, j).disable_motor()
continue
if joint_name[:8] != "jointfix":
joints[joint_name] = Joint(joint_name, bodies, i, j)
ordered_joints.append(joints[joint_name])
joints[joint_name].power_coef = 100.0
return parts, joints, ordered_joints, self.robot_body
def _reset(self):
if self.scene is None:
self.scene = self.create_single_player_scene()
if not self.scene.multiplayer:
self.scene.episode_restart()
self.ordered_joints = []
self.frame = 0
self.done = 0
self.reward = 0
dump = 0
if self.self_collision:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", self.model_xml), flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
else:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", self.model_xml)))
self.robot_specific_reset()
s = self.calc_state() # optimization: calc_state() can calculate something in self.* for calc_potential() to use
self.potential = self.calc_potential()
return s
def _render(self, mode, close):
pass
def calc_potential(self):
return 0
def HUD(self, state, a, done):
pass
class Camera:
def __init__(self):
pass
def move_and_look_at(self,i,j,k,x,y,z):
lookat = [x,y,z]
distance = 10
yaw = 10
p.resetDebugVisualizerCamera(distance, yaw, -20, lookat)
class Pose_Helper: # dummy class to comply to original interface
def __init__(self, body_part):
self.body_part = body_part
def xyz(self):
return self.body_part.current_position()
def rpy(self):
return p.getEulerFromQuaternion(self.body_part.current_orientation())
def orientation(self):
return self.body_part.current_orientation()
class BodyPart:
def __init__(self, body_name, bodies, bodyIndex, bodyPartIndex):
self.bodies = bodies
self.bodyIndex = bodyIndex
self.bodyPartIndex = bodyPartIndex
self.initialPosition = self.current_position()
self.initialOrientation = self.current_orientation()
self.bp_pose = Pose_Helper(self)
def state_fields_of_pose_of(self, body_id, link_id=-1): # a method you will most probably need a lot to get pose and orientation
if link_id == -1:
(x, y, z), (a, b, c, d) = p.getBasePositionAndOrientation(body_id)
else:
(x, y, z), (a, b, c, d), _, _, _, _ = p.getLinkState(body_id, link_id)
return np.array([x, y, z, a, b, c, d])
def get_pose(self):
return self.state_fields_of_pose_of(self.bodies[self.bodyIndex], self.bodyPartIndex)
def speed(self):
if self.bodyPartIndex == -1:
(vx, vy, vz), _ = p.getBaseVelocity(self.bodies[self.bodyIndex])
else:
(x,y,z), (a,b,c,d), _,_,_,_, (vx, vy, vz), (vr,vp,vy) = p.getLinkState(self.bodies[self.bodyIndex], self.bodyPartIndex, computeLinkVelocity=1)
return np.array([vx, vy, vz])
def current_position(self):
return self.get_pose()[:3]
def current_orientation(self):
return self.get_pose()[3:]
def reset_position(self, position):
p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, self.get_orientation())
def reset_orientation(self, orientation):
p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], self.get_position(), orientation)
def reset_pose(self, position, orientation):
p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, orientation)
def pose(self):
return self.bp_pose
def contact_list(self):
return p.getContactPoints(self.bodies[self.bodyIndex], -1, self.bodyPartIndex, -1)
class Joint:
def __init__(self, joint_name, bodies, bodyIndex, jointIndex):
self.bodies = bodies
self.bodyIndex = bodyIndex
self.jointIndex = jointIndex
self.joint_name = joint_name
_,_,_,_,_,_,_,_,self.lowerLimit, self.upperLimit,_,_,_ = p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
self.power_coeff = 0
def set_state(self, x, vx):
p.resetJointState(self.bodies[self.bodyIndex], self.jointIndex, x, vx)
def current_position(self): # just some synonyme method
return self.get_state()
def current_relative_position(self):
pos, vel = self.get_state()
pos_mid = 0.5 * (self.lowerLimit + self.upperLimit);
return (
2 * (pos - pos_mid) / (self.upperLimit - self.lowerLimit),
0.1 * vel
)
def get_state(self):
x, vx,_,_ = p.getJointState(self.bodies[self.bodyIndex],self.jointIndex)
return x, vx
def set_position(self, position):
p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.POSITION_CONTROL, targetPosition=position)
def set_velocity(self, velocity):
p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.VELOCITY_CONTROL, targetVelocity=velocity)
def set_motor_torque(self, torque): # just some synonyme method
self.set_torque(torque)
def set_torque(self, torque):
p.setJointMotorControl2(bodyIndex=self.bodies[self.bodyIndex], jointIndex=self.jointIndex, controlMode=p.TORQUE_CONTROL, force=torque) #, positionGain=0.1, velocityGain=0.1)
def reset_current_position(self, position, velocity): # just some synonyme method
self.reset_position(position, velocity)
def reset_position(self, position, velocity):
p.resetJointState(self.bodies[self.bodyIndex],self.jointIndex,targetValue=position, targetVelocity=velocity)
self.disable_motor()
def disable_motor(self):
p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.VELOCITY_CONTROL, force=0)

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examples/pybullet/gym/envs/gym_pendula.py Normal file
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from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene
from gym_mujoco_xml_env import PybulletMujocoXmlEnv
import gym, gym.spaces, gym.utils, gym.utils.seeding
import numpy as np
import os, sys
class PybulletInvertedPendulum(PybulletMujocoXmlEnv):
swingup = False
force_gain = 12 # TODO: Try to find out why we need to scale the force
def __init__(self):
PybulletMujocoXmlEnv.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
def robot_specific_reset(self):
self.pole = self.parts["pole"]
self.slider = self.jdict["slider"]
self.j1 = self.jdict["hinge"]
u = self.np_random.uniform(low=-.1, high=.1)
self.j1.reset_current_position( u if not self.swingup else 3.1415+u , 0)
self.j1.set_motor_torque(0)
def apply_action(self, a):
#assert( np.isfinite(a).all() )
if not np.isfinite(a).all():
print("a is inf")
a[0] = 0
self.slider.set_motor_torque( self.force_gain * 100*float(np.clip(a[0], -1, +1)) )
def calc_state(self):
self.theta, theta_dot = self.j1.current_position()
x, vx = self.slider.current_position()
#assert( np.isfinite(x) )
if not np.isfinite(x):
print("x is inf")
x = 0
if not np.isfinite(vx):
print("vx is inf")
vx = 0
if not np.isfinite(self.theta):
print("theta is inf")
self.theta = 0
if not np.isfinite(theta_dot):
print("theta_dot is inf")
theta_dot = 0
return np.array([
x, vx,
np.cos(self.theta), np.sin(self.theta), theta_dot
])
def _step(self, a):
self.apply_action(a)
self.scene.global_step()
state = self.calc_state() # sets self.pos_x self.pos_y
vel_penalty = 0
if self.swingup:
reward = np.cos(self.theta)
done = False
else:
reward = 1.0
done = np.abs(self.theta) > .2
self.rewards = [float(reward)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
def camera_adjust(self):
self.camera.move_and_look_at(0,1.2,1.0, 0,0,0.5)
class PybulletInvertedPendulumSwingup(PybulletInvertedPendulum):
swingup = True
force_gain = 2.2 # TODO: Try to find out why we need to scale the force
class PybulletInvertedDoublePendulum(PybulletMujocoXmlEnv):
def __init__(self):
PybulletMujocoXmlEnv.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
def robot_specific_reset(self):
self.pole2 = self.parts["pole2"]
self.slider = self.jdict["slider"]
self.j1 = self.jdict["hinge"]
self.j2 = self.jdict["hinge2"]
u = self.np_random.uniform(low=-.1, high=.1, size=[2])
self.j1.reset_current_position(float(u[0]), 0)
self.j2.reset_current_position(float(u[1]), 0)
self.j1.set_motor_torque(0)
self.j2.set_motor_torque(0)
def apply_action(self, a):
assert( np.isfinite(a).all() )
force_gain = 0.78 # TODO: Try to find out why we need to scale the force
self.slider.set_motor_torque( force_gain *200*float(np.clip(a[0], -1, +1)) )
def calc_state(self):
theta, theta_dot = self.j1.current_position()
gamma, gamma_dot = self.j2.current_position()
x, vx = self.slider.current_position()
self.pos_x, _, self.pos_y = self.pole2.pose().xyz()
assert( np.isfinite(x) )
return np.array([
x, vx,
self.pos_x,
np.cos(theta), np.sin(theta), theta_dot,
np.cos(gamma), np.sin(gamma), gamma_dot,
])
def _step(self, a):
self.apply_action(a)
self.scene.global_step()
state = self.calc_state() # sets self.pos_x self.pos_y
# upright position: 0.6 (one pole) + 0.6 (second pole) * 0.5 (middle of second pole) = 0.9
# using <site> tag in original xml, upright position is 0.6 + 0.6 = 1.2, difference +0.3
dist_penalty = 0.01 * self.pos_x ** 2 + (self.pos_y + 0.3 - 2) ** 2
# v1, v2 = self.model.data.qvel[1:3] TODO when this fixed https://github.com/bulletphysics/bullet3/issues/1040
#vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2
vel_penalty = 0
alive_bonus = 10
done = self.pos_y + 0.3 <= 1
self.rewards = [float(alive_bonus), float(-dist_penalty), float(-vel_penalty)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
def camera_adjust(self):
self.camera.move_and_look_at(0,1.2,1.2, 0,0,0.5)

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examples/pybullet/gym/envs/kerasrl_utils.py Normal file
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import re
from gym import error
import glob
# checkpoints/KerasDDPG-InvertedPendulum-v0-20170701190920_actor.h5
weight_save_re = re.compile(r'^(?:\w+\/)+?(\w+-v\d+)-(\w+-v\d+)-(\d+)(?:_\w+)?\.(\w+)$')
def get_fields(weight_save_name):
match = weight_save_re.search(weight_save_name)
if not match:
raise error.Error('Attempted to read a malformed weight save: {}. (Currently all weight saves must be of the form {}.)'.format(id,weight_save_re.pattern))
return match.group(1), match.group(2), int(match.group(3))
def get_latest_save(file_folder, agent_name, env_name, version_number):
"""
Returns the properties of the latest weight save. The information can be used to generate the loading path
:return:
"""
path = "%s%s"% (file_folder, "*.h5")
file_list = glob.glob(path)
latest_file_properties = []
file_properties = []
for f in file_list:
file_properties = get_fields(f)
if file_properties[0] == agent_name and file_properties[1] == env_name and (latest_file_properties == [] or file_properties[2] > latest_file_properties[2]):
latest_file_properties = file_properties
return latest_file_properties

71
examples/pybullet/gym/envs/mujoco_assets/ant.xml Normal file
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<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>

5
examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml Normal file
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<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>

88
examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml Normal file
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<!-- 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>

39
examples/pybullet/gym/envs/mujoco_assets/hopper.xml Normal file
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<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>

107
examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml Normal file
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<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>

115
examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml Normal file
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<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>

47
examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml Normal file
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<!-- 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>

27
examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml Normal file
View File

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<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>

91
examples/pybullet/gym/envs/mujoco_assets/pusher.xml Normal file
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<mujoco model="arm3d">
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
<option timestep="0.01" gravity="0 0 0" integrator="RK4" />
<default>
<joint armature='0.04' damping="1" limited="true"/>
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
</default>
<worldbody>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
<body name="r_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="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" />
<body name="r_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="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" />
<body name="r_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="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" />
<body name="r_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="r_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="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" />
<body name="r_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="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/>
<body name="r_forearm_link" pos="0 0 0">
<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
<body name="r_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="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" />
<body name="r_wrist_roll_link" pos="0 0 0">
<joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" 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>
<!--<body name="object" pos="0.55 -0.3 -0.275" >-->
<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="obj_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
<joint name="obj_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
</body>
<body name="goal" 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="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
<joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
</body>
</worldbody>
<actuator>
<motor joint="r_shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="r_shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="r_upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="r_elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="r_forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="r_wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="r_wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
</actuator>
</mujoco>

39
examples/pybullet/gym/envs/mujoco_assets/reacher.xml Normal file
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<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>

101
examples/pybullet/gym/envs/mujoco_assets/striker.xml Normal file
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<mujoco model="arm3d">
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
<option timestep="0.01" gravity="0 0 0" integrator="RK4"/>
<default>
<joint armature='0.04' damping="1" limited="true"/>
<geom friction=".0 .0 .0" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
</default>
<worldbody>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
<body name="r_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="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" />
<body name="r_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="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" />
<body name="r_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="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" />
<body name="r_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="r_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="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" />
<body name="r_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="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/>
<body name="r_forearm_link" pos="0 0 0">
<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
<body name="r_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="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" />
<body name="r_wrist_roll_link" pos="0 0 0">
<joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" range="-1.5 1.5"/>
<body name="fingertip" pos="0 0 0">
<geom conaffinity="1" contype="1" name="tip_arml" pos="0.017 0 0" size="0.003 0.12 0.05" type="box" />
</body>
<geom conaffinity="1" contype="1" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" type="capsule" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<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="obj_slidey" armature="0.1" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
<joint name="obj_slidex" armature="0.1" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
</body>
<body name="goal" 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="goal_free" type="free" pos="0 0 0" limited="false" damping="0"/>
</body>
</worldbody>
<actuator>
<motor joint="r_shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="r_shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="r_upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="r_elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="r_forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="r_wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="r_wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
</actuator>
</mujoco>

127
examples/pybullet/gym/envs/mujoco_assets/thrower.xml Normal file
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<mujoco model="arm3d">
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
<option timestep="0.01" gravity="0 0 -9.81" integrator="RK4"/>
<default>
<joint armature='0.75' damping="1" limited="true"/>
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
</default>
<worldbody>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<geom type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
<body name="r_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="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4854 1.214602" damping="1.0"/>
<body name="r_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="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 0.7963" damping="1.0"/>
<body name="r_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="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="1.0"/>
<body name="r_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="r_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="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.7 0.7" damping="1.0"/>
<body name="r_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="r_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="r_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="r_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="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" damping="1.0" />
<body name="r_wrist_roll_link" pos="0 0 0" axisangle="0 1 0 -1.178">
<joint name="r_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>
<body name="goal" 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="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="1.0"/>
<joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="1.0"/>
</body>
<body name="ball" 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="ball_free" type="free" armature='0' damping="0" limited="false"/>
</body>
</worldbody>
<actuator>
<motor joint="r_shoulder_pan_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
<motor joint="r_shoulder_lift_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
<motor joint="r_upper_arm_roll_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
<motor joint="r_elbow_flex_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
<motor joint="r_forearm_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
<motor joint="r_wrist_flex_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
<motor joint="r_wrist_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true"/>
</actuator>
</mujoco>

52
examples/pybullet/gym/envs/mujoco_assets/walker2d.xml Normal file
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<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>

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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

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<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>

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# This is the only place cpp_household really imported. From other places, it is referenced as scene_abstract.cpp_household
# If this doesn't work, the checklist is:
# 1) Build local Bullet physics library (instructions in README)
# 2) ldd cpp_household.so
# 3) In case of python 2.7 when using pip2 install without -e, the C++ module gets built in python2.7/site-packages,
# but when you have roboschool directory in cwd or in parent(s) of cwd, python2 will use that and fail to reach site-packages.
# No such behavior in Python3. For example, no zoo scripts will work if you install without -e and run them from
# source tree. If you copy zoo script elsewhere, it will work. (upgrade to Python3 if you can.)
import sys, os
sys.path.append(os.path.dirname(__file__))
import pybullet as p
import gym
class Scene:
"A base class for single- and multiplayer scenes"
def __init__(self, gravity, timestep, frame_skip):
self.np_random, seed = gym.utils.seeding.np_random(None)
self.timestep = timestep
self.frame_skip = frame_skip
self.dt = self.timestep * self.frame_skip
self.cpp_world = World(gravity, timestep)
#self.cpp_world.set_glsl_path(os.path.join(os.path.dirname(__file__), "cpp-household/glsl"))
#self.big_caption = self.cpp_world.test_window_big_caption # that's a function you can call
#self.console_print = self.cpp_world.test_window_print # this too
self.test_window_still_open = True # or never opened
self.human_render_detected = False # if user wants render("human"), we open test window
self.multiplayer_robots = {}
def test_window(self):
"Call this function every frame, to see what's going on. Not necessary in learning."
self.human_render_detected = True
return self.test_window_still_open
def actor_introduce(self, robot):
"Usually after scene reset"
if not self.multiplayer: return
self.multiplayer_robots[robot.player_n] = robot
def actor_is_active(self, robot):
"""
Used by robots to see if they are free to exclusiveley put their HUD on the test window.
Later can be used for click-focus robots.
"""
return not self.multiplayer
def episode_restart(self):
"This function gets overridden by specific scene, to reset specific objects into their start positions"
self.cpp_world.clean_everything()
#self.cpp_world.test_window_history_reset()
def global_step(self):
"""
The idea is: apply motor torques for all robots, then call global_step(), then collect
observations from robots using step() with the same action.
"""
#if self.human_render_detected:
# self.test_window_still_open = self.cpp_world.test_window()
self.cpp_world.step(self.frame_skip)
class SingleRobotEmptyScene(Scene):
multiplayer = False # this class is used "as is" for InvertedPendulum, Reacher
class World:
def __init__(self, gravity, timestep):
self.gravity = gravity
self.timestep = timestep
self.clean_everything()
def clean_everything(self):
p.resetSimulation()
p.setGravity(0, 0, -self.gravity)
p.setPhysicsEngineParameter(fixedTimeStep=self.timestep, numSolverIterations=5, numSubSteps=2)
def step(self, frame_skip):
p.stepSimulation()

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import os
from .scene_abstract import Scene
import pybullet as p
class StadiumScene(Scene):
zero_at_running_strip_start_line = True # if False, center of coordinates (0,0,0) will be at the middle of the stadium
stadium_halflen = 105*0.25 # FOOBALL_FIELD_HALFLEN
stadium_halfwidth = 50*0.25 # FOOBALL_FIELD_HALFWID
def episode_restart(self):
Scene.episode_restart(self) # contains cpp_world.clean_everything()
# stadium_pose = cpp_household.Pose()
# if self.zero_at_running_strip_start_line:
# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
self.stadium = p.loadSDF(os.path.join(os.path.dirname(__file__), "other_assets", "stadium.sdf"))
self.ground_plane_mjcf = p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", "ground_plane.xml"))
class SinglePlayerStadiumScene(StadiumScene):
"This scene created by environment, to work in a way as if there was no concept of scene visible to user."
multiplayer = False
class MultiplayerStadiumScene(StadiumScene):
multiplayer = True
players_count = 3
def actor_introduce(self, robot):
StadiumScene.actor_introduce(self, robot)
i = robot.player_n - 1 # 0 1 2 => -1 0 +1
robot.move_robot(0, i, 0)