diff --git a/MANIFEST.in b/MANIFEST.in index f81f5f520..35db1b38e 100644 --- a/MANIFEST.in +++ b/MANIFEST.in @@ -5,6 +5,8 @@ recursive-include Extras *.h recursive-include Extras *.hpp recursive-include src *.h recursive-include src *.hpp +recursive-include data *.* +recursive-include examples/pybullet/gym *.* include examples/ThirdPartyLibs/enet/unix.c include examples/OpenGLWindow/X11OpenGLWindow.cpp include examples/ThirdPartyLibs/Glew/glew.c diff --git a/data/racecar/racecar.urdf b/data/racecar/racecar.urdf index c33450464..3235819cf 100644 --- a/data/racecar/racecar.urdf +++ b/data/racecar/racecar.urdf @@ -8,8 +8,19 @@ - + + + + + + + + + + + + @@ -478,8 +489,5 @@ - - - diff --git a/examples/pybullet/gym/agents/actor_net.py b/examples/pybullet/gym/agents/actor_net.py deleted file mode 100644 index ac6aaff8a..000000000 --- a/examples/pybullet/gym/agents/actor_net.py +++ /dev/null @@ -1,21 +0,0 @@ -"""An actor network.""" -import tensorflow as tf -import sonnet as snt - -class ActorNetwork(snt.AbstractModule): - """An actor network as a sonnet Module.""" - - def __init__(self, layer_sizes, action_size, name='target_actor'): - super(ActorNetwork, self).__init__(name=name) - self._layer_sizes = layer_sizes - self._action_size = action_size - - def _build(self, inputs): - state = inputs - for output_size in self._layer_sizes: - state = snt.Linear(output_size)(state) - state = tf.nn.relu(state) - - action = tf.tanh( - snt.Linear(self._action_size, name='action')(state)) - return action diff --git a/examples/pybullet/gym/agents/simpleAgent.py b/examples/pybullet/gym/agents/simpleAgent.py deleted file mode 100644 index 8f399566c..000000000 --- a/examples/pybullet/gym/agents/simpleAgent.py +++ /dev/null @@ -1,37 +0,0 @@ -"""Loads a DDPG agent without too much external dependencies -""" -from __future__ import absolute_import -from __future__ import division -from __future__ import print_function - -import os -import collections -import numpy as np -import tensorflow as tf -import pdb - -class SimpleAgent(): - def __init__( - self, - session, - ckpt_path, - actor_layer_size, - observation_dim=28 - ): - self._ckpt_path = ckpt_path - self._session = session - self._observation_dim = observation_dim - self._build() - - def _build(self): - saver = tf.train.import_meta_graph(self._ckpt_path + '.meta') - saver.restore( - sess=self._session, - save_path=self._ckpt_path) - self._action = tf.get_collection('action_op')[0] - self._obs = tf.get_collection('observation_placeholder')[0] - - def __call__(self, observation): - feed_dict={self._obs: observation} - out_action = self._session.run(self._action, feed_dict=feed_dict) - return out_action[0] diff --git a/examples/pybullet/gym/agents/simpleAgentWithSonnet.py b/examples/pybullet/gym/agents/simpleAgentWithSonnet.py deleted file mode 100644 index 6af4be61d..000000000 --- a/examples/pybullet/gym/agents/simpleAgentWithSonnet.py +++ /dev/null @@ -1,46 +0,0 @@ -"""Loads a DDPG agent without too much external dependencies -""" -from __future__ import absolute_import -from __future__ import division -from __future__ import print_function - -import os -import collections -import numpy as np -import tensorflow as tf - -import sonnet as snt -from agents import actor_net - -class SimpleAgent(): - def __init__( - self, - session, - ckpt_path, - actor_layer_size, - observation_size=(28,), - action_size=8, - ): - self._ckpt_path = ckpt_path - self._actor_layer_size = actor_layer_size - self._observation_size = observation_size - self._action_size = action_size - self._session = session - self._build() - - def _build(self): - self._agent_net = actor_net.ActorNetwork(self._actor_layer_size, self._action_size) - self._obs = tf.placeholder(tf.float32, self._observation_size) - with tf.name_scope('Act'): - batch_obs = snt.nest.pack_iterable_as(self._obs, - snt.nest.map(lambda x: tf.expand_dims(x, 0), - snt.nest.flatten_iterable(self._obs))) - self._action = self._agent_net(batch_obs) - saver = tf.train.Saver() - saver.restore( - sess=self._session, - save_path=self._ckpt_path) - - def __call__(self, observation): - out_action = self._session.run(self._action, feed_dict={self._obs: observation}) - return out_action[0] diff --git a/examples/pybullet/gym/cartpole_bullet_gym_example.py b/examples/pybullet/gym/cartpole_bullet_gym_example.py deleted file mode 100644 index 52cdab258..000000000 --- a/examples/pybullet/gym/cartpole_bullet_gym_example.py +++ /dev/null @@ -1,31 +0,0 @@ -"""One-line documentation for gym_example module. - -A detailed description of gym_example. -""" - -import gym -from envs.bullet.cartpole_bullet import CartPoleBulletEnv -import setuptools -import time -import numpy as np - - -w = [0.3, 0.02, 0.02, 0.012] - -def main(): - env = gym.make('CartPoleBulletEnv-v0') - for i_episode in range(1): - observation = env.reset() - done = False - t = 0 - while not done: - print(observation) - action = np.array([np.inner(observation, w)]) - print(action) - observation, reward, done, info = env.step(action) - t = t + 1 - if done: - print("Episode finished after {} timesteps".format(t+1)) - break - -main() diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.data-00000-of-00001 b/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.data-00000-of-00001 deleted file mode 100644 index d0d344013..000000000 Binary files a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.data-00000-of-00001 and /dev/null differ diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.index b/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.index deleted file mode 100644 index 85feb951c..000000000 Binary files a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.index and /dev/null differ diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.meta b/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.meta deleted file mode 100644 index b9484d825..000000000 Binary files a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.meta and /dev/null differ diff --git a/examples/pybullet/gym/envs/bullet/__init__.py b/examples/pybullet/gym/envs/bullet/__init__.py deleted file mode 100644 index 394788f73..000000000 --- a/examples/pybullet/gym/envs/bullet/__init__.py +++ /dev/null @@ -1,7 +0,0 @@ -from envs.bullet.cartpole_bullet import CartPoleBulletEnv -from envs.bullet.minitaur_bullet import MinitaurBulletEnv -from envs.bullet.racecarGymEnv import RacecarGymEnv -from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv -from envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv -from envs.bullet.kukaGymEnv import KukaGymEnv -from envs.bullet.kukaCamGymEnv import KukaCamGymEnv \ No newline at end of file diff --git a/examples/pybullet/gym/kukaJointSpaceGymEnvTest.py b/examples/pybullet/gym/kukaJointSpaceGymEnvTest.py deleted file mode 100644 index ec442e1fd..000000000 --- a/examples/pybullet/gym/kukaJointSpaceGymEnvTest.py +++ /dev/null @@ -1,23 +0,0 @@ - -from envs.bullet.kukaGymEnv import KukaGymEnv -import time - - -environment = KukaGymEnv(renders=True) -environment._kuka.useInverseKinematics=0 - -motorsIds=[] -for i in range (len(environment._kuka.motorNames)): - motor = environment._kuka.motorNames[i] - motorJointIndex = environment._kuka.motorIndices[i] - motorsIds.append(environment._p.addUserDebugParameter(motor,-3,3,environment._kuka.jointPositions[i])) - -while (True): - - action=[] - for motorId in motorsIds: - action.append(environment._p.readUserDebugParameter(motorId)) - - state, reward, done, info = environment.step(action) - obs = environment.getExtendedObservation() - time.sleep(0.01) diff --git a/examples/pybullet/gym/minitaurGymEnvTest.py b/examples/pybullet/gym/minitaurGymEnvTest.py deleted file mode 100644 index 7491453fe..000000000 --- a/examples/pybullet/gym/minitaurGymEnvTest.py +++ /dev/null @@ -1,88 +0,0 @@ -''' -A test for minitaurGymEnv -''' - -import gym -import numpy as np -import math - -import numpy as np -import tensorflow as tf - -from envs.bullet.minitaurGymEnv import MinitaurGymEnv - -try: - import sonnet - from agents import simpleAgentWithSonnet as agent_lib -except ImportError: - from agents import simpleAgent as agent_lib - - -def testSinePolicy(): - """Tests sine policy - """ - np.random.seed(47) - - environment = MinitaurGymEnv(render=True) - sum_reward = 0 - steps = 1000 - amplitude1Bound = 0.5 - amplitude2Bound = 0.15 - speed = 40 - - for stepCounter in range(steps): - t = float(stepCounter) * environment._timeStep - - if (t < 1): - amplitude1 = 0 - amplitude2 = 0 - else: - amplitude1 = amplitude1Bound - amplitude2 = amplitude2Bound - a1 = math.sin(t*speed)*amplitude1 - a2 = math.sin(t*speed+3.14)*amplitude1 - a3 = math.sin(t*speed)*amplitude2 - a4 = math.sin(t*speed+3.14)*amplitude2 - - action = [a1, a2, a2, a1, a3, a4, a4, a3] - - state, reward, done, info = environment.step(action) - sum_reward += reward - if done: - environment.reset() - print("sum reward: ", sum_reward) - - -def testDDPGPolicy(): - """Tests sine policy - """ - environment = MinitaurGymEnv(render=True) - sum_reward = 0 - steps = 1000 - ckpt_path = 'data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0' - observation_shape = (28,) - action_size = 8 - actor_layer_size = (297, 158) - n_steps = 0 - tf.reset_default_graph() - with tf.Session() as session: - agent = agent_lib.SimpleAgent(session=session, ckpt_path=ckpt_path, actor_layer_size=actor_layer_size) - state = environment.reset() - action = agent(state) - for _ in range(steps): - n_steps += 1 - state, reward, done, info = environment.step(action) - action = agent(state) - sum_reward += reward - if done: - environment.reset() - n_steps += 1 - print("total reward: ", sum_reward) - print("total steps: ", n_steps) - sum_reward = 0 - n_steps = 0 - return - - -testDDPGPolicy() -#testSinePolicy() diff --git a/examples/pybullet/gym/envs/__init__.py b/examples/pybullet/gym/pybullet_envs/__init__.py similarity index 60% rename from examples/pybullet/gym/envs/__init__.py rename to examples/pybullet/gym/pybullet_envs/__init__.py index c328958d3..369fc0f87 100644 --- a/examples/pybullet/gym/envs/__init__.py +++ b/examples/pybullet/gym/pybullet_envs/__init__.py @@ -4,131 +4,131 @@ from gym.envs.registration import registry, register, make, spec register( id='CartPoleBulletEnv-v0', - entry_point='envs.bullet:CartPoleBulletEnv', + entry_point='pybullet_envs.bullet:CartPoleBulletEnv', timestep_limit=1000, reward_threshold=950.0, ) register( id='MinitaurBulletEnv-v0', - entry_point='envs.bullet:MinitaurBulletEnv', + entry_point='pybullet_envs.bullet:MinitaurBulletEnv', timestep_limit=1000, reward_threshold=5.0, ) register( id='RacecarBulletEnv-v0', - entry_point='envs.bullet:RacecarBulletEnv', + entry_point='pybullet_envs.bullet:RacecarBulletEnv', timestep_limit=1000, reward_threshold=5.0, ) register( id='RacecarZedBulletEnv-v0', - entry_point='envs.bullet:RacecarZEDGymEnv', + entry_point='pybullet_envs.bullet:RacecarZEDGymEnv', timestep_limit=1000, reward_threshold=5.0, ) register( id='SimpleHumanoidBulletEnv-v0', - entry_point='envs.bullet:SimpleHumanoidGymEnv', + entry_point='pybullet_envs.bullet:SimpleHumanoidGymEnv', timestep_limit=1000, reward_threshold=5.0, ) register( id='KukaBulletEnv-v0', - entry_point='envs.bullet:KukaGymEnv', + entry_point='pybullet_envs.bullet:KukaGymEnv', timestep_limit=1000, reward_threshold=5.0, ) register( id='KukaCamBulletEnv-v0', - entry_point='envs.bullet:KukaCamGymEnv', + entry_point='pybullet_envs.bullet:KukaCamGymEnv', timestep_limit=1000, reward_threshold=5.0, ) register( id='InvertedPendulumBulletEnv-v0', - entry_point='envs.gym_pendulum_envs:InvertedPendulumBulletEnv', + entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumBulletEnv', max_episode_steps=1000, reward_threshold=950.0, ) register( id='InvertedDoublePendulumBulletEnv-v0', - entry_point='envs.gym_pendulum_envs:InvertedDoublePendulumBulletEnv', + entry_point='pybullet_envs.gym_pendulum_envs:InvertedDoublePendulumBulletEnv', max_episode_steps=1000, reward_threshold=9100.0, ) register( id='InvertedPendulumSwingupBulletEnv-v0', - entry_point='envs.gym_pendulum_envs:InvertedPendulumSwingupBulletEnv', + entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumSwingupBulletEnv', max_episode_steps=1000, reward_threshold=800.0, ) # register( # id='ReacherBulletEnv-v0', -# entry_point='envs.gym_manipulator_envs:ReacherBulletEnv', +# entry_point='pybullet_envs.gym_manipulator_envs:ReacherBulletEnv', # max_episode_steps=150, # reward_threshold=18.0, # ) # # register( # id='PusherBulletEnv-v0', -# entry_point='envs.gym_manipulator_envs:PusherBulletEnv', +# entry_point='pybullet_envs.gym_manipulator_envs:PusherBulletEnv', # max_episode_steps=150, # reward_threshold=18.0, # ) # # register( # id='ThrowerBulletEnv-v0', -# entry_point='envs.gym_manipulator_envs:ThrowerBulletEnv', +# entry_point='pybullet_envs.gym_manipulator_envs:ThrowerBulletEnv', # max_episode_steps=100, # reward_threshold=18.0, # ) # # register( # id='StrikerBulletEnv-v0', -# entry_point='envs.gym_manipulator_envs:StrikerBulletEnv', +# entry_point='pybullet_envs.gym_manipulator_envs:StrikerBulletEnv', # max_episode_steps=100, # reward_threshold=18.0, # ) register( id='Walker2DBulletEnv-v0', - entry_point='envs.gym_locomotion_envs:Walker2DBulletEnv', + entry_point='pybullet_envs.gym_locomotion_envs:Walker2DBulletEnv', max_episode_steps=1000, reward_threshold=2500.0 ) register( id='HalfCheetahBulletEnv-v0', - entry_point='envs.gym_locomotion_envs:HalfCheetahBulletEnv', + entry_point='pybullet_envs.gym_locomotion_envs:HalfCheetahBulletEnv', max_episode_steps=1000, reward_threshold=3000.0 ) register( id='AntBulletEnv-v0', - entry_point='envs.gym_locomotion_envs:AntBulletEnv', + entry_point='pybullet_envs.gym_locomotion_envs:AntBulletEnv', max_episode_steps=1000, reward_threshold=2500.0 ) register( id='HumanoidBulletEnv-v0', - entry_point='envs.gym_locomotion_envs:HumanoidBulletEnv', + entry_point='pybullet_envs.gym_locomotion_envs:HumanoidBulletEnv', max_episode_steps=1000 ) register( id='HopperBulletEnv-v0', - entry_point='envs.gym_locomotion_envs:HopperBulletEnv', + entry_point='pybullet_envs.gym_locomotion_envs:HopperBulletEnv', max_episode_steps=1000, reward_threshold=2500.0 - ) \ No newline at end of file + ) diff --git a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py new file mode 100644 index 000000000..cb4f5d20e --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py @@ -0,0 +1,7 @@ +from pybullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv +from pybullet_envs.bullet.minitaur_bullet import MinitaurBulletEnv +from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv +from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv +from pybullet_envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv +from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv +from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv diff --git a/examples/pybullet/gym/envs/bullet/cartpole_bullet.py b/examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py similarity index 96% rename from examples/pybullet/gym/envs/bullet/cartpole_bullet.py rename to examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py index 3e7f29daf..7d9aff36b 100644 --- a/examples/pybullet/gym/envs/bullet/cartpole_bullet.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py @@ -76,7 +76,7 @@ class CartPoleBulletEnv(gym.Env): def _reset(self): # print("-----------reset simulation---------------") p.resetSimulation() - self.cartpole = p.loadURDF("cartpole.urdf",[0,0,0]) + self.cartpole = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","cartpole.urdf"),[0,0,0]) self.timeStep = 0.01 p.setJointMotorControl2(self.cartpole, 1, p.VELOCITY_CONTROL, force=0) p.setGravity(0,0, -10) diff --git a/examples/pybullet/gym/envs/bullet/kuka.py b/examples/pybullet/gym/pybullet_envs/bullet/kuka.py similarity index 95% rename from examples/pybullet/gym/envs/bullet/kuka.py rename to examples/pybullet/gym/pybullet_envs/bullet/kuka.py index a8dc4b7d3..445880411 100644 --- a/examples/pybullet/gym/envs/bullet/kuka.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/kuka.py @@ -1,3 +1,4 @@ +import os import pybullet as p import numpy as np import copy @@ -31,7 +32,7 @@ class Kuka: self.reset() def reset(self): - objects = p.loadSDF("kuka_iiwa/kuka_with_gripper2.sdf") + objects = p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","kuka_iiwa/kuka_with_gripper2.sdf")) self.kukaUid = objects[0] #for i in range (p.getNumJoints(self.kukaUid)): # print(p.getJointInfo(self.kukaUid,i)) @@ -42,7 +43,7 @@ class Kuka: p.resetJointState(self.kukaUid,jointIndex,self.jointPositions[jointIndex]) p.setJointMotorControl2(self.kukaUid,jointIndex,p.POSITION_CONTROL,targetPosition=self.jointPositions[jointIndex],force=self.maxForce) - self.trayUid = p.loadURDF("tray/tray.urdf", 0.640000,0.075000,-0.190000,0.000000,0.000000,1.000000,0.000000) + self.trayUid = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","tray/tray.urdf"), 0.640000,0.075000,-0.190000,0.000000,0.000000,1.000000,0.000000) self.endEffectorPos = [0.537,0.0,0.5] self.endEffectorAngle = 0 diff --git a/examples/pybullet/gym/envs/bullet/kukaCamGymEnv.py b/examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py similarity index 94% rename from examples/pybullet/gym/envs/bullet/kukaCamGymEnv.py rename to examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py index 2af6774cd..cb2aa3986 100644 --- a/examples/pybullet/gym/envs/bullet/kukaCamGymEnv.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py @@ -1,3 +1,4 @@ +import os import math import gym from gym import spaces @@ -54,15 +55,15 @@ class KukaCamGymEnv(gym.Env): p.resetSimulation() p.setPhysicsEngineParameter(numSolverIterations=150) p.setTimeStep(self._timeStep) - p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1]) + p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"),[0,0,-1]) - p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0) + p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0) xpos = 0.5 +0.05*random.random() ypos = 0 +0.05*random.random() ang = 3.1415925438*random.random() orn = p.getQuaternionFromEuler([0,0,ang]) - self.blockUid =p.loadURDF("block.urdf", xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3]) + self.blockUid =p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3]) p.setGravity(0,0,-10) self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep) diff --git a/examples/pybullet/gym/envs/bullet/kukaGymEnv.py b/examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py similarity index 100% rename from examples/pybullet/gym/envs/bullet/kukaGymEnv.py rename to examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py diff --git a/examples/pybullet/gym/envs/bullet/minitaur.py b/examples/pybullet/gym/pybullet_envs/bullet/minitaur.py similarity index 100% rename from examples/pybullet/gym/envs/bullet/minitaur.py rename to examples/pybullet/gym/pybullet_envs/bullet/minitaur.py diff --git a/examples/pybullet/gym/envs/bullet/minitaurGymEnv.py b/examples/pybullet/gym/pybullet_envs/bullet/minitaurGymEnv.py similarity index 99% rename from examples/pybullet/gym/envs/bullet/minitaurGymEnv.py rename to examples/pybullet/gym/pybullet_envs/bullet/minitaurGymEnv.py index 83679f22a..d70a398bd 100644 --- a/examples/pybullet/gym/envs/bullet/minitaurGymEnv.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/minitaurGymEnv.py @@ -5,7 +5,7 @@ from gym.utils import seeding import numpy as np import time import pybullet as p -import minitaur_new +from . import minitaur_new class MinitaurGymEnv(gym.Env): metadata = { diff --git a/examples/pybullet/gym/envs/bullet/minitaur_bullet.py b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_bullet.py similarity index 98% rename from examples/pybullet/gym/envs/bullet/minitaur_bullet.py rename to examples/pybullet/gym/pybullet_envs/bullet/minitaur_bullet.py index cd4d5f658..7e52da29e 100644 --- a/examples/pybullet/gym/envs/bullet/minitaur_bullet.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_bullet.py @@ -6,7 +6,7 @@ import numpy as np import time import pybullet as p -from envs.bullet.minitaur import Minitaur +from pybullet_envs.bullet.minitaur import Minitaur class MinitaurBulletEnv(gym.Env): metadata = { diff --git a/examples/pybullet/gym/envs/bullet/minitaur_new.py b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_new.py similarity index 100% rename from examples/pybullet/gym/envs/bullet/minitaur_new.py rename to examples/pybullet/gym/pybullet_envs/bullet/minitaur_new.py diff --git a/examples/pybullet/gym/envs/bullet/racecar.py b/examples/pybullet/gym/pybullet_envs/bullet/racecar.py similarity index 91% rename from examples/pybullet/gym/envs/bullet/racecar.py rename to examples/pybullet/gym/pybullet_envs/bullet/racecar.py index 96db73c78..91e21fd79 100644 --- a/examples/pybullet/gym/envs/bullet/racecar.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/racecar.py @@ -1,3 +1,4 @@ +import os import pybullet as p import numpy as np import copy @@ -11,7 +12,7 @@ class Racecar: self.reset() def reset(self): - self.racecarUniqueId = p.loadURDF("racecar/racecar.urdf", [0,0,.2]) + self.racecarUniqueId = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","racecar/racecar.urdf"), [0,0,.2]) self.maxForce = 20 self.nMotors = 2 self.motorizedwheels=[2] @@ -54,4 +55,4 @@ class Racecar: p.setJointMotorControl2(self.racecarUniqueId,motor,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=self.maxForce) for steer in self.steeringLinks: p.setJointMotorControl2(self.racecarUniqueId,steer,p.POSITION_CONTROL,targetPosition=steeringAngle) - \ No newline at end of file + diff --git a/examples/pybullet/gym/envs/bullet/racecarGymEnv.py b/examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py similarity index 92% rename from examples/pybullet/gym/envs/bullet/racecarGymEnv.py rename to examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py index 930f9bf88..1feb6d980 100644 --- a/examples/pybullet/gym/envs/bullet/racecarGymEnv.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py @@ -1,3 +1,4 @@ +import os import math import gym from gym import spaces @@ -48,8 +49,8 @@ class RacecarGymEnv(gym.Env): p.resetSimulation() #p.setPhysicsEngineParameter(numSolverIterations=300) p.setTimeStep(self._timeStep) - #p.loadURDF("%splane.urdf" % self._urdfRoot) - stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot) + #p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf")) + stadiumobjects = p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","stadium.sdf")) #move the stadium objects slightly above 0 for i in stadiumobjects: pos,orn = p.getBasePositionAndOrientation(i) @@ -63,7 +64,7 @@ class RacecarGymEnv(gym.Env): bally = dist * math.cos(ang) ballz = 1 - self._ballUniqueId = p.loadURDF("sphere2.urdf",[ballx,bally,ballz]) + self._ballUniqueId = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","sphere2.urdf"),[ballx,bally,ballz]) p.setGravity(0,0,-10) self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep) self._envStepCounter = 0 diff --git a/examples/pybullet/gym/envs/bullet/racecarZEDGymEnv.py b/examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py similarity index 93% rename from examples/pybullet/gym/envs/bullet/racecarZEDGymEnv.py rename to examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py index 347efd80b..317a2089e 100644 --- a/examples/pybullet/gym/envs/bullet/racecarZEDGymEnv.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py @@ -1,3 +1,4 @@ +import os import math import gym from gym import spaces @@ -50,8 +51,8 @@ class RacecarZEDGymEnv(gym.Env): p.resetSimulation() #p.setPhysicsEngineParameter(numSolverIterations=300) p.setTimeStep(self._timeStep) - #p.loadURDF("%splane.urdf" % self._urdfRoot) - stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot) + #p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf")) + stadiumobjects = p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","stadium.sdf")) #move the stadium objects slightly above 0 for i in stadiumobjects: pos,orn = p.getBasePositionAndOrientation(i) @@ -65,7 +66,7 @@ class RacecarZEDGymEnv(gym.Env): bally = dist * math.cos(ang) ballz = 1 - self._ballUniqueId = p.loadURDF("sphere2red.urdf",[ballx,bally,ballz]) + self._ballUniqueId = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","sphere2red.urdf"),[ballx,bally,ballz]) p.setGravity(0,0,-10) self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep) self._envStepCounter = 0 diff --git a/examples/pybullet/gym/envs/bullet/simpleHumanoid.py b/examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoid.py similarity index 95% rename from examples/pybullet/gym/envs/bullet/simpleHumanoid.py rename to examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoid.py index 5cb69fd13..95150a22f 100644 --- a/examples/pybullet/gym/envs/bullet/simpleHumanoid.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoid.py @@ -1,3 +1,4 @@ +import os import pybullet as p import numpy as np import copy @@ -18,7 +19,7 @@ class SimpleHumanoid: def reset(self): self.initial_z = None - objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS) + objs = p.loadMJCF(os.path.join(os.path.dirname(__file__),"../data","mjcf/humanoid_symmetric_no_ground.xml"),flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS) self.human = objs[0] self.jdict = {} self.ordered_joints = [] diff --git a/examples/pybullet/gym/envs/bullet/simpleHumanoidGymEnv.py b/examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoidGymEnv.py similarity index 96% rename from examples/pybullet/gym/envs/bullet/simpleHumanoidGymEnv.py rename to examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoidGymEnv.py index 7c9743124..57f54e0e5 100644 --- a/examples/pybullet/gym/envs/bullet/simpleHumanoidGymEnv.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoidGymEnv.py @@ -1,3 +1,4 @@ +import os import math import gym from gym import spaces @@ -47,7 +48,7 @@ class SimpleHumanoidGymEnv(gym.Env): p.resetSimulation() #p.setPhysicsEngineParameter(numSolverIterations=300) p.setTimeStep(self._timeStep) - p.loadURDF("%splane.urdf" % self._urdfRoot) + p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf")) dist = 5 +2.*random.random() ang = 2.*3.1415925438*random.random() @@ -99,4 +100,4 @@ class SimpleHumanoidGymEnv(gym.Env): def _reward(self): reward=self._humanoid.distance print(reward) - return reward \ No newline at end of file + return reward diff --git a/examples/pybullet/gym/pybullet_envs/data/block.urdf b/examples/pybullet/gym/pybullet_envs/data/block.urdf new file mode 100644 index 000000000..d4be09aa0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/block.urdf @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/cartpole.urdf b/examples/pybullet/gym/pybullet_envs/data/cartpole.urdf new file mode 100644 index 000000000..c22ca920c 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a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_base_left.stl b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_base_left.stl new file mode 100755 index 000000000..4ef433272 Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_base_left.stl differ diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_base_right.stl b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_base_right.stl new file mode 100755 index 000000000..0e7c91f14 Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_base_right.stl differ diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_tip_left.stl b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_tip_left.stl new file mode 100755 index 000000000..2a258e339 Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_tip_left.stl differ diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_tip_right.stl b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_tip_right.stl new file mode 100755 index 000000000..458f26b05 Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_tip_right.stl differ diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.mtl b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.obj b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.obj new file mode 100644 index 000000000..8c6180750 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.obj @@ -0,0 +1,6055 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib link_0.mtl +o Link_0 +v -0.073270 0.085817 0.012943 +v -0.074438 0.081518 0.013000 +v -0.069707 0.083749 0.012943 +v -0.067291 0.072243 0.012925 +v -0.066385 0.076350 0.012920 +v -0.070874 0.076639 0.013000 +v -0.071758 0.079481 0.012999 +v -0.067309 0.080461 0.012939 +v -0.071201 0.074480 0.013000 +v -0.069623 0.069042 0.012934 +v -0.079194 0.071573 0.012999 +v -0.084443 0.070536 0.012940 +v -0.081332 0.067719 0.012931 +v -0.077390 0.066456 0.012934 +v -0.076056 0.070876 0.013000 +v -0.076596 0.081863 0.013000 +v -0.077352 0.086270 0.012940 +v -0.073228 0.071776 0.013000 +v -0.073203 0.066924 0.012920 +v -0.078621 0.081384 0.013000 +v -0.081415 0.084974 0.012924 +v -0.084448 0.082173 0.012942 +v -0.081078 0.079329 0.012999 +v -0.081330 0.073997 0.013000 +v -0.086054 0.074207 0.012961 +v -0.081882 0.076197 0.013000 +v 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1512//1499 1354//1341 +f 1354//1341 1512//1499 909//896 +f 1354//1341 909//896 1134//1121 +f 1134//1121 909//896 570//557 diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.stl b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.stl new file mode 100644 index 000000000..ed1447056 Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.stl differ diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_1.mtl b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_1.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_1.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_1.obj b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_1.obj new file mode 100644 index 000000000..8059af3d6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_1.obj @@ -0,0 +1,5576 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib link_1.mtl +o Link_1 +v -0.001631 -0.010000 0.227563 +v 0.006105 -0.010000 0.226825 +v -0.010897 -0.010000 0.179909 +v -0.016614 -0.010001 0.183773 +v -0.020834 -0.010000 0.188565 +v -0.017553 -0.010000 0.220406 +v 0.011168 -0.010000 0.224883 +v 0.016012 -0.010000 0.221714 +v 0.020592 -0.010000 0.216877 +v -0.013591 -0.010000 0.223518 +v 0.011974 -0.010000 0.180541 +v 0.024260 -0.010000 0.208876 +v 0.024983 -0.010000 0.200272 +v 0.006410 -0.010000 0.178254 +v -0.023338 -0.010000 0.193493 +v -0.024992 -0.010000 0.200371 +v -0.024234 -0.010000 0.208968 +v -0.008144 -0.010000 0.226150 +v 0.001339 -0.010000 0.177504 +v -0.004083 -0.010000 0.177821 +v -0.021265 -0.010000 0.215687 +v 0.016640 -0.010000 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b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_2.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_2.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_2.obj b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_2.obj new file mode 100644 index 000000000..928db7fe0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_2.obj @@ -0,0 +1,2948 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib link_2.mtl +o Link_2_Link_2.001 +v -0.016211 -0.018973 -0.010000 +v 0.017083 0.018973 -0.010000 +v 0.024339 0.008108 -0.010000 +v 0.025191 -0.004930 -0.010000 +v 0.019409 -0.016647 -0.010000 +v -0.011699 0.022132 -0.010000 +v -0.024512 -0.003834 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b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_3.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_3.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_3.obj b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_3.obj new file mode 100644 index 000000000..16cbf3178 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_3.obj @@ -0,0 +1,3924 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib link_3.mtl +o Link_3 +v -0.039465 0.055310 0.020607 +v -0.037521 0.056645 0.020606 +v -0.041450 0.053817 0.014758 +v -0.035433 0.057944 0.014758 +v 0.035435 -0.057958 0.014758 +v 0.041450 -0.053802 0.014758 +v 0.039465 -0.055316 0.020607 +v 0.037520 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--git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.mtl b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.obj b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.obj new file mode 100644 index 000000000..b8c357643 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.obj @@ -0,0 +1,3168 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib link_4.mtl +o Link_4 +v 0.022132 0.012135 -0.010500 +v 0.024881 0.001466 -0.010500 +v -0.022132 -0.012135 -0.010500 +v 0.025000 -0.000000 -0.010500 +v 0.024476 -0.005945 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b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_5.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_5.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_5.obj b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_5.obj new file mode 100644 index 000000000..525c3869e --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_5.obj @@ -0,0 +1,2732 @@ +# Blender v2.78 (sub 0) OBJ File: '' +# www.blender.org +mtllib link_5.mtl +o Link_5 +v 0.039468 -0.055306 0.020605 +v 0.037523 -0.056649 0.020605 +v 0.041452 -0.053841 0.014758 +v 0.035384 -0.057976 0.014731 +v -0.039465 0.055327 0.020609 +v -0.035679 0.057848 0.011238 +v -0.042615 0.052926 0.011241 +v -0.006109 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b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_5.stl differ diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_6.mtl b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_6.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_6.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_6.obj b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_6.obj new file mode 100644 index 000000000..7ade5d1c7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_6.obj @@ -0,0 +1,2328 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib link_6.mtl +o Link_6 +v -0.037815 0.049296 0.039806 +v -0.065813 -0.002381 -0.001534 +v 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b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_6.stl new file mode 100644 index 000000000..7fb9fcad2 Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_6.stl differ diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_7.mtl b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_7.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_7.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_7.obj b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_7.obj new file mode 100644 index 000000000..4d6f0c312 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_7.obj @@ -0,0 +1,3155 @@ +# Blender 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3.05433 + 300 + 10 + + + 0.5 + 0 + 0 + 0 + + 0 + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_for_sdf.urdf b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_for_sdf.urdf new file mode 100644 index 000000000..12a165423 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_for_sdf.urdf @@ -0,0 +1,285 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_free_base.urdf b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_free_base.urdf new file mode 100644 index 000000000..b87373346 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_free_base.urdf @@ -0,0 +1,289 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_vr_limits.urdf b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_vr_limits.urdf new file mode 100644 index 000000000..a5bff40ab --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model_vr_limits.urdf @@ -0,0 +1,289 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/ant.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/ant.xml new file mode 100644 index 000000000..311d96feb --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/ant.xml @@ -0,0 +1,71 @@ + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule.xml new file mode 100644 index 000000000..7e58ce12c --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoX.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoX.xml new file mode 100644 index 000000000..1ae780cec --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoX.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoY.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoY.xml new file mode 100644 index 000000000..60bc24564 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoY.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoZ.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoZ.xml new file mode 100644 index 000000000..34c37fdbe --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/capsule_fromtoZ.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder.xml new file mode 100644 index 000000000..a447ab03b --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoX.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoX.xml new file mode 100644 index 000000000..1746fc0e1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoX.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoY.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoY.xml new file mode 100644 index 000000000..8eea2fc53 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoY.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoZ.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoZ.xml new file mode 100644 index 000000000..84fe829cd --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder_fromtoZ.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/ground.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/ground.xml new file mode 100644 index 000000000..a53452f44 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/ground.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/ground_plane.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/ground_plane.xml new file mode 100644 index 000000000..0212c7f1b --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/ground_plane.xml @@ -0,0 +1,5 @@ + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/half_cheetah.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/half_cheetah.xml new file mode 100644 index 000000000..418eef56d --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/half_cheetah.xml @@ -0,0 +1,88 @@ + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/hello_mjcf.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/hello_mjcf.xml new file mode 100644 index 000000000..b434868d0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/hello_mjcf.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/hopper.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/hopper.xml new file mode 100644 index 000000000..077160345 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/hopper.xml @@ -0,0 +1,39 @@ + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid.xml new file mode 100644 index 000000000..2ed2f55ec --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid.xml @@ -0,0 +1,130 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_fixed.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_fixed.xml new file mode 100644 index 000000000..94e1dd2a0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_fixed.xml @@ -0,0 +1,115 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric.xml new file mode 100644 index 000000000..d7ba9f494 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric.xml @@ -0,0 +1,107 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric_no_ground.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric_no_ground.xml new file mode 100644 index 000000000..0c2f2befa --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_symmetric_no_ground.xml @@ -0,0 +1,115 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_double_pendulum.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_double_pendulum.xml new file mode 100644 index 000000000..755cefd44 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_double_pendulum.xml @@ -0,0 +1,47 @@ + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_pendulum.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_pendulum.xml new file mode 100644 index 000000000..b409b3b11 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/inverted_pendulum.xml @@ -0,0 +1,27 @@ + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/pusher.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/pusher.xml new file mode 100644 index 000000000..bac3d7ace --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/pusher.xml @@ -0,0 +1,90 @@ + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/reacher.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/reacher.xml new file mode 100644 index 000000000..82b224ff6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/reacher.xml @@ -0,0 +1,39 @@ + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/striker.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/striker.xml new file mode 100644 index 000000000..59898d74f --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/striker.xml @@ -0,0 +1,100 @@ + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/swimmer.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/swimmer.xml new file mode 100644 index 000000000..cda25da9d --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/swimmer.xml @@ -0,0 +1,38 @@ + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/thrower.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/thrower.xml new file mode 100644 index 000000000..fcb39f524 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/thrower.xml @@ -0,0 +1,127 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/mjcf/walker2d.xml b/examples/pybullet/gym/pybullet_envs/data/mjcf/walker2d.xml new file mode 100644 index 000000000..f1905c067 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/mjcf/walker2d.xml @@ -0,0 +1,52 @@ + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/plane.mtl b/examples/pybullet/gym/pybullet_envs/data/plane.mtl new file mode 100644 index 000000000..cd101528d --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/plane.mtl @@ -0,0 +1,15 @@ +newmtl Material + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.0000 0.0000 0.0000 + Kd 0.5880 0.5880 0.5880 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka cube.tga + map_Kd checker_blue.png + + diff --git a/examples/pybullet/gym/pybullet_envs/data/plane.obj b/examples/pybullet/gym/pybullet_envs/data/plane.obj new file mode 100644 index 000000000..606209531 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/plane.obj @@ -0,0 +1,18 @@ +# Blender v2.66 (sub 1) OBJ File: '' +# www.blender.org +mtllib plane.mtl +o Plane +v 15.000000 -15.000000 0.000000 +v 15.000000 15.000000 0.000000 +v -15.000000 15.000000 0.000000 +v -15.000000 -15.000000 0.000000 + +vt 15.000000 0.000000 +vt 15.000000 15.000000 +vt 0.000000 15.000000 +vt 0.000000 0.000000 + +usemtl Material +s off +f 1/1 2/2 3/3 +f 1/1 3/3 4/4 diff --git a/examples/pybullet/gym/pybullet_envs/data/plane.urdf b/examples/pybullet/gym/pybullet_envs/data/plane.urdf new file mode 100644 index 000000000..b04f67e96 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/plane.urdf @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/LOG00076.TXT b/examples/pybullet/gym/pybullet_envs/data/quadruped/LOG00076.TXT new file mode 100644 index 000000000..c1912b4e0 Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/quadruped/LOG00076.TXT differ diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur.urdf b/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur.urdf new file mode 100644 index 000000000..fa4bc2d37 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur.urdf @@ -0,0 +1,929 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/t-motor.jpg b/examples/pybullet/gym/pybullet_envs/data/quadruped/t-motor.jpg new file mode 100644 index 000000000..dbd5d1a6e Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/quadruped/t-motor.jpg differ diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor.blend b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor.blend new file mode 100644 index 000000000..ba06c0075 Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor.blend differ diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.mtl b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.mtl new file mode 100644 index 000000000..af216a1cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.mtl @@ -0,0 +1,19 @@ +# Blender MTL File: 'tmotor.blend' +# Material Count: 2 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 +map_Kd t-motor.jpg + +newmtl None_NONE +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.obj b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.obj new file mode 100644 index 000000000..366398a4b --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.obj @@ -0,0 +1,325 @@ +# Blender v2.78 (sub 0) OBJ File: 'tmotor.blend' +# www.blender.org +mtllib tmotor3.mtl +o Cylinder +v 0.000000 0.043000 -0.006500 +v 0.000000 0.043000 0.006500 +v 0.008389 0.042174 -0.006500 +v 0.008389 0.042174 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+ + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_front_wheel.mtl b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_front_wheel.mtl new file mode 100644 index 000000000..2a3af6d81 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_front_wheel.mtl @@ -0,0 +1,11 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 +map_Kd wheel.jpg diff --git a/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_front_wheel.obj b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_front_wheel.obj new file mode 100644 index 000000000..c08b16e24 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_front_wheel.obj @@ -0,0 +1,3978 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib left_front_wheel.mtl +o left_front_wheel +v -0.049912 0.002962 -0.010000 +v 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+ + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_rear_wheel.mtl b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_rear_wheel.mtl new file mode 100644 index 000000000..2a3af6d81 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_rear_wheel.mtl @@ -0,0 +1,11 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 +map_Kd wheel.jpg diff --git a/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_rear_wheel.obj b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_rear_wheel.obj new file mode 100644 index 000000000..a929491b5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_rear_wheel.obj @@ -0,0 +1,3979 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib left_rear_wheel.mtl +o left_rear_wheel +v -0.049912 0.002962 -0.010000 +v 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+ + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_front_wheel.mtl b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_front_wheel.mtl new file mode 100644 index 000000000..2a3af6d81 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_front_wheel.mtl @@ -0,0 +1,11 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 +map_Kd wheel.jpg diff --git a/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_front_wheel.obj b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_front_wheel.obj new file mode 100644 index 000000000..0b1fe2446 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_front_wheel.obj @@ -0,0 +1,3625 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib right_front_wheel.mtl +o right_front_wheel +v -0.049912 0.002962 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+ + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_rear_wheel.mtl b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_rear_wheel.mtl new file mode 100644 index 000000000..2a3af6d81 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_rear_wheel.mtl @@ -0,0 +1,11 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 +map_Kd wheel.jpg diff --git a/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_rear_wheel.obj b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_rear_wheel.obj new file mode 100644 index 000000000..4b774696e --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_rear_wheel.obj @@ -0,0 +1,3625 @@ +# Blender v2.71 (sub 0) OBJ File: '' +# www.blender.org +mtllib right_rear_wheel.mtl +o right_rear_wheel +v -0.049912 0.002962 0.035000 +v 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b/examples/pybullet/gym/pybullet_envs/data/roboschool/models_outdoor/stadium/part2.obj @@ -0,0 +1,8350 @@ +# Exported using automatic converter by Erwin Coumans +mtllib stadium.mtl +#object stadium_grass + +v -40.666668 -25.999479 0.000000 +v -40.000000 -25.999479 0.000000 +v -40.999477 -25.333332 0.000000 +v 34.439060 0.666667 0.000000 +v 26.300522 0.666667 0.000000 +v 26.300522 0.000000 0.000000 +v 26.300522 -0.666667 0.000000 +v 34.439060 -0.666667 0.000000 +v 34.449478 0.000000 0.000000 +v 34.404690 1.333333 0.000000 +v 26.300522 1.333333 0.000000 +v -40.999477 -14.000000 0.000000 +v -40.999477 -14.666667 0.000000 +v -34.000000 -12.145312 0.000000 +v -39.333332 -25.999479 0.000000 +v -40.999477 -24.666668 0.000000 +v 0.049479 -9.333333 0.000000 +v 2.666667 -12.450521 0.000000 +v 3.333333 -12.450521 0.000000 +v 0.049479 -10.000000 0.000000 +v 40.999477 -14.666667 0.000000 +v 40.999477 -14.000000 0.000000 +v 34.000000 -12.145312 0.000000 +v 26.300522 -2.666667 0.000000 +v 26.300522 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b/examples/pybullet/gym/pybullet_envs/data/roboschool/models_outdoor/stadium/stadium_grass.jpg differ diff --git a/examples/pybullet/gym/pybullet_envs/data/sphere2.urdf b/examples/pybullet/gym/pybullet_envs/data/sphere2.urdf new file mode 100644 index 000000000..d2f402f37 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/sphere2.urdf @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/sphere2red.urdf b/examples/pybullet/gym/pybullet_envs/data/sphere2red.urdf new file mode 100644 index 000000000..67b72bc2a --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/sphere2red.urdf @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/sphere_smooth.mtl b/examples/pybullet/gym/pybullet_envs/data/sphere_smooth.mtl new file mode 100644 index 000000000..e6a7667ba --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/sphere_smooth.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 1. 0.2 0.2 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_envs/data/sphere_smooth.obj b/examples/pybullet/gym/pybullet_envs/data/sphere_smooth.obj new file mode 100644 index 000000000..b7262e882 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/sphere_smooth.obj @@ -0,0 +1,3725 @@ +# Blender v2.77 (sub 0) OBJ File: '' +# www.blender.org +mtllib sphere_smooth.mtl +o Sphere_Sphere.001 +v -0.108119 0.994138 0.000000 +v -0.214970 0.976621 0.000000 +v -0.319302 0.947653 0.000000 +v -0.419889 0.907575 0.000000 +v -0.515554 0.856857 0.000000 +v -0.605174 0.796093 0.000000 +v -0.687699 0.725995 0.000000 +v -0.762162 0.647386 0.000000 +v -0.827689 0.561187 0.000000 +v -0.883512 0.468408 0.000000 +v -0.928977 0.370138 0.000000 +v -0.963550 0.267528 0.000000 +v -0.986827 0.161782 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878/946/882 8/991/27 9/993/31 +f 893/949/885 892/947/883 22/992/29 23/994/33 +f 880/950/886 879/948/884 9/993/31 10/995/35 +f 894/951/887 893/949/885 23/994/33 24/965/37 +f 881/952/888 880/950/886 10/995/35 11/967/39 diff --git a/examples/pybullet/gym/pybullet_envs/data/stadium.sdf b/examples/pybullet/gym/pybullet_envs/data/stadium.sdf new file mode 100644 index 000000000..585b4eb16 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/stadium.sdf @@ -0,0 +1,107 @@ + + + 0 0 -9.8 + + 1 + 0 0 0 0 0 0 + + + 0 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + + + + + 1 1 1 + roboschool/models_outdoor/stadium/part0.obj + + + + 1 1 1 1 + 1.00000 1.00000 1.000000 1 + 0.1 .1 .1 1 + 0 0 0 0 + + + + + + 1 + 0 0 0 0 0 0 + + + 0 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + + + + + 0 0 1 + 100 100 + + + + + + + 1 1 1 + roboschool/models_outdoor/stadium/part1.obj + + + + 1 1 1 1 + 0.600000 0.400000 0.000000 1 + .5 .5 .5 1 + 0 0 0 0 + + + + + + 1 + 0 0 0 0 0 0 + + + 0 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + + + + + + 1 1 1 + roboschool/models_outdoor/stadium/part2.obj + + + + 1 0 0 1 + 0.000000 0.500000 0.000000 1 + 0.4 0.4 0.4 1 + 0 0 0 0 + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/table/table.mtl b/examples/pybullet/gym/pybullet_envs/data/table/table.mtl new file mode 100644 index 000000000..97d6457c5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/table/table.mtl @@ -0,0 +1,16 @@ +newmtl table + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.0000 0.0000 0.0000 + Kd 0.5880 0.5880 0.5880 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka table.tga + map_Kd table.png + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/table/table.obj b/examples/pybullet/gym/pybullet_envs/data/table/table.obj new file mode 100644 index 000000000..1357e497c --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/table/table.obj @@ -0,0 +1,48 @@ +# table.obj +# + +o table +mtllib table.mtl + +v -0.500000 -0.500000 0.500000 +v 0.500000 -0.500000 0.500000 +v -0.500000 0.500000 0.500000 +v 0.500000 0.500000 0.500000 +v -0.500000 0.500000 -0.500000 +v 0.500000 0.500000 -0.500000 +v -0.500000 -0.500000 -0.500000 +v 0.500000 -0.500000 -0.500000 + +vt 0.000000 0.000000 +vt 1.000000 0.000000 +vt 0.000000 1.000000 +vt 1.000000 1.000000 + +vn 0.000000 0.000000 1.000000 +vn 0.000000 1.000000 0.000000 +vn 0.000000 0.000000 -1.000000 +vn 0.000000 -1.000000 0.000000 +vn 1.000000 0.000000 0.000000 +vn -1.000000 0.000000 0.000000 + +g table +usemtl table +s 1 +f 1/1/1 2/2/1 3/3/1 +f 3/3/1 2/2/1 4/4/1 +s 2 +f 3/1/2 4/2/2 5/3/2 +f 5/3/2 4/2/2 6/4/2 +s 3 +f 5/4/3 6/3/3 7/2/3 +f 7/2/3 6/3/3 8/1/3 +s 4 +f 7/1/4 8/2/4 1/3/4 +f 1/3/4 8/2/4 2/4/4 +s 5 +f 2/1/5 8/2/5 4/3/5 +f 4/3/5 8/2/5 6/4/5 +s 6 +f 7/1/6 1/2/6 5/3/6 +f 5/3/6 1/2/6 3/4/6 + diff --git a/examples/pybullet/gym/pybullet_envs/data/table/table.png b/examples/pybullet/gym/pybullet_envs/data/table/table.png new file mode 100644 index 000000000..cdc391335 Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/table/table.png differ diff --git a/examples/pybullet/gym/pybullet_envs/data/table/table.urdf b/examples/pybullet/gym/pybullet_envs/data/table/table.urdf new file mode 100644 index 000000000..5a923a700 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/table/table.urdf @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/textured_sphere_smooth.mtl b/examples/pybullet/gym/pybullet_envs/data/textured_sphere_smooth.mtl new file mode 100644 index 000000000..f95aa33f6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/textured_sphere_smooth.mtl @@ -0,0 +1,11 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 +map_Kd checker_huge.gif diff --git a/examples/pybullet/gym/pybullet_envs/data/textured_sphere_smooth.obj b/examples/pybullet/gym/pybullet_envs/data/textured_sphere_smooth.obj new file mode 100644 index 000000000..5830c77a7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/textured_sphere_smooth.obj @@ -0,0 +1,3725 @@ +# Blender v2.77 (sub 0) OBJ File: '' +# www.blender.org +mtllib textured_sphere_smooth.mtl +o Sphere_Sphere.001 +v -0.108119 0.994138 0.000000 +v -0.214970 0.976621 0.000000 +v -0.319302 0.947653 0.000000 +v -0.419889 0.907575 0.000000 +v -0.515554 0.856857 0.000000 +v -0.605174 0.796093 0.000000 +v -0.687699 0.725995 0.000000 +v -0.762162 0.647386 0.000000 +v -0.827689 0.561187 0.000000 +v -0.883512 0.468408 0.000000 +v -0.928977 0.370138 0.000000 +v -0.963550 0.267528 0.000000 +v -0.986827 0.161782 0.000000 +v -0.998533 0.054139 0.000000 +v -0.998533 -0.054139 0.000000 +v -0.986827 -0.161782 0.000000 +v -0.963550 -0.267528 0.000000 +v -0.928977 -0.370138 0.000000 +v -0.883512 -0.468408 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881/952/888 880/950/886 10/995/35 11/967/39 diff --git a/examples/pybullet/gym/pybullet_envs/data/tray/tray.jpg b/examples/pybullet/gym/pybullet_envs/data/tray/tray.jpg new file mode 100644 index 000000000..2ce198fb6 Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/tray/tray.jpg differ diff --git a/examples/pybullet/gym/pybullet_envs/data/tray/tray.urdf b/examples/pybullet/gym/pybullet_envs/data/tray/tray.urdf new file mode 100755 index 000000000..06f596e8b --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/tray/tray.urdf @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured.mtl b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured.mtl new file mode 100644 index 000000000..e3b14fbaf --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0.000000 +Ka 0.000000 0.000000 0.000000 +Kd 0.800000 0.800000 0.800000 +Ks 0.800000 0.800000 0.800000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd tray.jpg diff --git a/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured.obj b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured.obj new file mode 100644 index 000000000..f3523df4d --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured.obj @@ -0,0 +1,213 @@ +# Blender v2.78 (sub 0) OBJ File: '' +# www.blender.org +mtllib tray_textured.mtl +o edge_4_Cube.001 +v -0.573309 0.580000 0.261247 +v -0.426691 0.419400 -0.002214 +v -0.590083 0.580000 0.250354 +v -0.573309 -0.580000 0.261247 +v -0.409917 0.419400 0.008679 +v -0.590083 -0.580000 0.250354 +v -0.409917 -0.419400 0.009162 +v -0.426691 -0.419400 -0.001731 +vt 0.9046 0.2397 +vt 0.7929 0.2434 +vt 0.9174 0.2393 +vt 0.9537 0.7559 +vt 0.7801 0.2438 +vt 0.9664 0.7554 +vt 0.8291 0.7599 +vt 0.8419 0.7595 +vn 0.2565 0.8821 -0.3950 +vn 0.8392 0.0002 0.5438 +vn 0.8395 0.0000 0.5433 +vn 0.8396 -0.0000 0.5432 +vn 0.2568 -0.8819 -0.3954 +vn -0.8396 -0.0002 -0.5433 +vn -0.8392 -0.0000 -0.5438 +vn -0.8391 0.0000 -0.5439 +vn 0.5446 -0.0005 -0.8387 +vn -0.5446 -0.0000 0.8387 +vn 0.8391 0.0003 0.5440 +vn -0.8397 -0.0003 -0.5430 +usemtl None +s 1 +f 1/1/1 2/2/1 3/3/1 +f 4/4/2 5/5/3 1/1/4 +f 6/6/5 7/7/5 4/4/5 +f 3/3/6 8/8/7 6/6/8 +f 5/5/9 8/8/9 2/2/9 +f 4/4/10 3/3/10 6/6/10 +f 1/1/1 5/5/1 2/2/1 +f 4/4/2 7/7/11 5/5/3 +f 6/6/5 8/8/5 7/7/5 +f 3/3/6 2/2/12 8/8/7 +f 5/5/9 7/7/9 8/8/9 +f 4/4/10 1/1/10 3/3/10 +o edge_1_Cube.003 +v 0.580000 0.590083 0.250354 +v -0.419960 0.426691 -0.001860 +v -0.580000 0.590083 0.250354 +v 0.580000 0.573309 0.261247 +v 0.420014 0.426691 -0.001059 +v -0.580000 0.573309 0.261247 +v 0.420014 0.409917 0.009834 +v -0.419960 0.409917 0.009033 +vt 0.8346 0.9187 +vt 0.2203 0.8574 +vt 0.1480 0.9187 +vt 0.8346 0.9129 +vt 0.7623 0.8574 +vt 0.1480 0.9129 +vt 0.7623 0.8511 +vt 0.2203 0.8511 +vn 0.0004 0.8386 -0.5448 +vn 0.0001 0.8391 -0.5439 +vn 0.0000 0.8393 -0.5437 +vn 0.8823 -0.2564 -0.3948 +vn -0.0004 -0.8392 0.5439 +vn -0.0001 -0.8386 0.5447 +vn 0.0000 -0.8385 0.5449 +vn -0.8826 -0.2560 -0.3942 +vn 0.0008 -0.5446 -0.8387 +vn 0.0000 0.5446 0.8387 +vn 0.0005 0.8383 -0.5452 +vn -0.0005 -0.8394 0.5435 +usemtl None +s 1 +f 9/9/13 10/10/14 11/11/15 +f 12/12/16 13/13/16 9/9/16 +f 14/14/17 15/15/18 12/12/19 +f 11/11/20 16/16/20 14/14/20 +f 13/13/21 16/16/21 10/10/21 +f 12/12/22 11/11/22 14/14/22 +f 9/9/13 13/13/23 10/10/14 +f 12/12/16 15/15/16 13/13/16 +f 14/14/17 16/16/24 15/15/18 +f 11/11/20 10/10/20 16/16/20 +f 13/13/21 15/15/21 16/16/21 +f 12/12/22 9/9/22 11/11/22 +o edge_2_Cube +v 0.590083 0.580000 0.250354 +v 0.409917 0.420060 0.009390 +v 0.573309 0.580000 0.261247 +v 0.590083 -0.580000 0.250354 +v 0.426691 0.420060 -0.001503 +v 0.573309 -0.580000 0.261247 +v 0.426691 -0.419158 -0.002053 +v 0.409917 -0.419158 0.008840 +vt 0.9410 0.8520 +vt 0.7523 0.8566 +vt 0.9234 0.8524 +vt 0.8896 0.1426 +vt 0.7698 0.8562 +vt 0.8721 0.1430 +vt 0.7185 0.1468 +vt 0.7009 0.1472 +vn -0.2561 0.8826 -0.3943 +vn 0.8394 0.0003 -0.5435 +vn 0.8390 0.0001 -0.5441 +vn 0.8389 0.0000 -0.5443 +vn -0.2569 -0.8818 -0.3956 +vn -0.8390 -0.0003 0.5441 +vn -0.8394 -0.0001 0.5436 +vn -0.8395 -0.0000 0.5434 +vn -0.5446 0.0005 -0.8387 +vn 0.5446 -0.0000 0.8387 +vn 0.8396 0.0004 -0.5433 +vn -0.8388 -0.0004 0.5444 +usemtl None +s 1 +f 17/17/25 18/18/25 19/19/25 +f 20/20/26 21/21/27 17/17/28 +f 22/22/29 23/23/29 20/20/29 +f 19/19/30 24/24/31 22/22/32 +f 21/21/33 24/24/33 18/18/33 +f 20/20/34 19/19/34 22/22/34 +f 17/17/25 21/21/25 18/18/25 +f 20/20/26 23/23/35 21/21/27 +f 22/22/29 24/24/29 23/23/29 +f 19/19/30 18/18/36 24/24/31 +f 21/21/33 23/23/33 24/24/33 +f 20/20/34 17/17/34 19/19/34 +o base_Cube.004 +v 0.420000 0.420000 0.010000 +v -0.420000 0.420000 -0.010000 +v -0.420000 0.420000 0.010000 +v 0.420000 -0.420000 0.010000 +v 0.420000 0.420000 -0.010000 +v -0.420000 -0.420000 0.010000 +v 0.420000 -0.420000 -0.010000 +v -0.420000 -0.420000 -0.010000 +vt 0.7524 0.8072 +vt -0.3038 0.8371 +vt -0.3038 0.8371 +vt 0.7012 0.1905 +vt 0.7524 0.8072 +vt -0.3550 0.2204 +vt 0.7012 0.1905 +vt -0.3550 0.2204 +vn 0.0000 1.0000 0.0000 +vn 1.0000 -0.0000 0.0000 +vn 0.0000 -1.0000 0.0000 +vn -1.0000 -0.0000 0.0000 +vn 0.0000 0.0000 -1.0000 +vn 0.0000 -0.0000 1.0000 +usemtl None +s 1 +f 25/25/37 26/26/37 27/27/37 +f 28/28/38 29/29/38 25/25/38 +f 30/30/39 31/31/39 28/28/39 +f 27/27/40 32/32/40 30/30/40 +f 29/29/41 32/32/41 26/26/41 +f 28/28/42 27/27/42 30/30/42 +f 25/25/37 29/29/37 26/26/37 +f 28/28/38 31/31/38 29/29/38 +f 30/30/39 32/32/39 31/31/39 +f 27/27/40 26/26/40 32/32/40 +f 29/29/41 31/31/41 32/32/41 +f 28/28/42 25/25/42 27/27/42 +o edge_3_Cube.002 +v 0.580000 -0.573309 0.261247 +v -0.419400 -0.409917 0.008678 +v -0.580000 -0.573309 0.261247 +v 0.580000 -0.590083 0.250354 +v 0.419883 -0.409917 0.009162 +v -0.580000 -0.590083 0.250354 +v 0.419883 -0.426691 -0.001731 +v -0.419400 -0.426691 -0.002215 +vt 0.8690 0.1040 +vt 0.1365 0.1739 +vt 0.0188 0.1040 +vt 0.8690 0.0968 +vt 0.7517 0.1739 +vt 0.0188 0.0968 +vt 0.7517 0.1668 +vt 0.1365 0.1668 +vn -0.0002 0.8392 0.5438 +vn -0.0000 0.8395 0.5433 +vn 0.0000 0.8396 0.5432 +vn 0.8825 0.2562 -0.3945 +vn 0.0002 -0.8396 -0.5433 +vn 0.0000 -0.8392 -0.5438 +vn 0.0000 -0.8391 -0.5439 +vn -0.8821 0.2565 -0.3950 +vn -0.8822 0.2565 -0.3950 +vn 0.0005 0.5446 -0.8387 +vn 0.0000 -0.5446 0.8387 +vn -0.0003 0.8391 0.5440 +vn 0.0003 -0.8397 -0.5430 +usemtl None +s 1 +f 33/33/43 34/34/44 35/35/45 +f 36/36/46 37/37/46 33/33/46 +f 38/38/47 39/39/48 36/36/49 +f 35/35/50 40/40/51 38/38/51 +f 37/37/52 40/40/52 34/34/52 +f 36/36/53 35/35/53 38/38/53 +f 33/33/43 37/37/54 34/34/44 +f 36/36/46 39/39/46 37/37/46 +f 38/38/47 40/40/55 39/39/48 +f 35/35/50 34/34/51 40/40/51 +f 37/37/52 39/39/52 40/40/52 +f 36/36/53 33/33/53 35/35/53 diff --git a/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.mtl b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.mtl new file mode 100644 index 000000000..4689a463a --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'tray_textured2.blend' +# Material Count: 1 + +newmtl None +Ns 0.000000 +Ka 0.000000 0.000000 0.000000 +Kd 0.800000 0.800000 0.800000 +Ks 0.800000 0.800000 0.800000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd tray.jpg diff --git a/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.obj b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.obj new file mode 100644 index 000000000..98a8962c6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.obj @@ -0,0 +1,255 @@ +# Blender v2.78 (sub 0) OBJ File: 'tray_textured2.blend' +# www.blender.org +mtllib tray_textured2.mtl +o edge_1_Cube.003 +v 0.580000 0.590083 0.250354 +v -0.419960 0.426691 -0.001860 +v -0.580000 0.590083 0.250354 +v 0.580000 0.573309 0.261247 +v 0.420014 0.426691 -0.001059 +v -0.580000 0.573309 0.261247 +v 0.420014 0.409917 0.009834 +v -0.419960 0.409917 0.009033 +vt 0.8346 0.9187 +vt 0.2203 0.8574 +vt 0.1480 0.9187 +vt 0.8346 0.9129 +vt 0.7623 0.8574 +vt 0.1480 0.9129 +vt 0.7623 0.8511 +vt 0.2203 0.8511 +vn 0.0004 0.8386 -0.5448 +vn 0.0001 0.8391 -0.5439 +vn -0.0000 0.8393 -0.5437 +vn 0.8823 -0.2564 -0.3948 +vn -0.0004 -0.8392 0.5439 +vn -0.0001 -0.8386 0.5447 +vn 0.0000 -0.8385 0.5449 +vn -0.8826 -0.2560 -0.3942 +vn 0.0008 -0.5446 -0.8387 +vn -0.0000 0.5446 0.8387 +vn 0.0005 0.8383 -0.5452 +vn -0.0005 -0.8394 0.5435 +usemtl None +s 1 +f 1/1/1 2/2/2 3/3/3 +f 4/4/4 5/5/4 1/1/4 +f 6/6/5 7/7/6 4/4/7 +f 3/3/8 8/8/8 6/6/8 +f 5/5/9 8/8/9 2/2/9 +f 4/4/10 3/3/10 6/6/10 +f 1/1/1 5/5/11 2/2/2 +f 4/4/4 7/7/4 5/5/4 +f 6/6/5 8/8/12 7/7/6 +f 3/3/8 2/2/8 8/8/8 +f 5/5/9 7/7/9 8/8/9 +f 4/4/10 1/1/10 3/3/10 +o edge_2_Cube +v 0.590083 0.580000 0.250354 +v 0.409917 0.420060 0.009390 +v 0.573309 0.580000 0.261247 +v 0.590083 -0.580000 0.250354 +v 0.426691 0.420060 -0.001503 +v 0.573309 -0.580000 0.261247 +v 0.426691 -0.419158 -0.002053 +v 0.409917 -0.419158 0.008840 +vt 0.9410 0.8520 +vt 0.7523 0.8566 +vt 0.9234 0.8524 +vt 0.8896 0.1426 +vt 0.7698 0.8562 +vt 0.8721 0.1430 +vt 0.7185 0.1468 +vt 0.7009 0.1472 +vn -0.2561 0.8826 -0.3943 +vn 0.8394 0.0003 -0.5435 +vn 0.8390 0.0001 -0.5441 +vn 0.8389 0.0000 -0.5442 +vn -0.2569 -0.8818 -0.3956 +vn -0.8390 -0.0003 0.5441 +vn -0.8394 -0.0001 0.5436 +vn -0.8395 -0.0000 0.5434 +vn -0.5446 0.0005 -0.8387 +vn 0.5446 -0.0000 0.8387 +vn 0.8396 0.0004 -0.5433 +vn -0.8388 -0.0004 0.5444 +usemtl None +s 1 +f 9/9/13 10/10/13 11/11/13 +f 12/12/14 13/13/15 9/9/16 +f 14/14/17 15/15/17 12/12/17 +f 11/11/18 16/16/19 14/14/20 +f 13/13/21 16/16/21 10/10/21 +f 12/12/22 11/11/22 14/14/22 +f 9/9/13 13/13/13 10/10/13 +f 12/12/14 15/15/23 13/13/15 +f 14/14/17 16/16/17 15/15/17 +f 11/11/18 10/10/24 16/16/19 +f 13/13/21 15/15/21 16/16/21 +f 12/12/22 9/9/22 11/11/22 +o edge_3_Cube.002 +v 0.580000 -0.573309 0.261247 +v -0.419400 -0.409917 0.008678 +v -0.580000 -0.573309 0.261247 +v 0.580000 -0.590083 0.250354 +v 0.419883 -0.409917 0.009162 +v -0.580000 -0.590083 0.250354 +v 0.419883 -0.426691 -0.001731 +v -0.419400 -0.426691 -0.002215 +vt 0.8690 0.1040 +vt 0.1365 0.1739 +vt 0.0188 0.1040 +vt 0.8690 0.0968 +vt 0.7517 0.1739 +vt 0.0188 0.0968 +vt 0.7517 0.1668 +vt 0.1365 0.1668 +vn -0.0002 0.8392 0.5438 +vn -0.0000 0.8395 0.5433 +vn -0.0000 0.8396 0.5432 +vn 0.8825 0.2562 -0.3945 +vn 0.0002 -0.8396 -0.5433 +vn 0.0000 -0.8392 -0.5438 +vn 0.0000 -0.8391 -0.5439 +vn -0.8821 0.2565 -0.3950 +vn 0.0005 0.5446 -0.8387 +vn 0.0000 -0.5446 0.8387 +vn -0.0003 0.8391 0.5440 +vn 0.0003 -0.8397 -0.5430 +usemtl None +s 1 +f 17/17/25 18/18/26 19/19/27 +f 20/20/28 21/21/28 17/17/28 +f 22/22/29 23/23/30 20/20/31 +f 19/19/32 24/24/32 22/22/32 +f 21/21/33 24/24/33 18/18/33 +f 20/20/34 19/19/34 22/22/34 +f 17/17/25 21/21/35 18/18/26 +f 20/20/28 23/23/28 21/21/28 +f 22/22/29 24/24/36 23/23/30 +f 19/19/32 18/18/32 24/24/32 +f 21/21/33 23/23/33 24/24/33 +f 20/20/34 17/17/34 19/19/34 +o edge_5_Cube.005 +v -0.153309 0.580000 0.261247 +v -0.006691 0.419400 -0.002214 +v -0.170083 0.580000 0.250354 +v -0.153309 -0.580000 0.261247 +v 0.010083 0.419400 0.008679 +v -0.170083 -0.580000 0.250354 +v 0.010083 -0.419883 0.009732 +v -0.006691 -0.419883 -0.001161 +vt 0.0506 0.8517 +vt 0.1935 0.8492 +vt 0.0342 0.8520 +vt 0.0164 0.1914 +vt 0.2099 0.8489 +vt 0.0001 0.1917 +vt 0.1757 0.1886 +vt 0.1594 0.1889 +vn 0.2565 0.8821 -0.3950 +vn 0.8387 0.0005 0.5446 +vn 0.8394 0.0001 0.5434 +vn 0.8396 0.0000 0.5432 +vn 0.2565 -0.8822 -0.3950 +vn -0.8395 -0.0005 -0.5434 +vn -0.8388 -0.0001 -0.5445 +vn -0.8386 -0.0000 -0.5448 +vn 0.5446 -0.0011 -0.8387 +vn -0.5446 -0.0000 0.8387 +vn 0.8384 0.0007 0.5451 +vn -0.8398 -0.0007 -0.5429 +usemtl None +s 1 +f 25/25/37 26/26/37 27/27/37 +f 28/28/38 29/29/39 25/25/40 +f 30/30/41 31/31/41 28/28/41 +f 27/27/42 32/32/43 30/30/44 +f 29/29/45 32/32/45 26/26/45 +f 28/28/46 27/27/46 30/30/46 +f 25/25/37 29/29/37 26/26/37 +f 28/28/38 31/31/47 29/29/39 +f 30/30/41 32/32/41 31/31/41 +f 27/27/42 26/26/48 32/32/43 +f 29/29/45 31/31/45 32/32/45 +f 28/28/46 25/25/46 27/27/46 +o edge_4_Cube.001 +v -0.573309 0.580000 0.261247 +v -0.426691 0.419400 -0.002214 +v -0.590083 0.580000 0.250354 +v -0.573309 -0.580000 0.261247 +v -0.409917 0.419400 0.008679 +v -0.590083 -0.580000 0.250354 +v -0.409917 -0.419400 0.009162 +v -0.426691 -0.419400 -0.001731 +vt 0.9046 0.2397 +vt 0.7929 0.2434 +vt 0.9174 0.2393 +vt 0.9537 0.7559 +vt 0.7801 0.2438 +vt 0.9664 0.7554 +vt 0.8291 0.7599 +vt 0.8419 0.7595 +vn 0.2565 0.8821 -0.3950 +vn 0.8392 0.0002 0.5438 +vn 0.8395 0.0000 0.5433 +vn 0.8396 0.0000 0.5432 +vn 0.2568 -0.8819 -0.3954 +vn -0.8396 -0.0002 -0.5433 +vn -0.8392 -0.0000 -0.5438 +vn -0.8391 -0.0000 -0.5439 +vn 0.5446 -0.0005 -0.8387 +vn -0.5446 -0.0000 0.8387 +vn 0.8391 0.0003 0.5440 +vn -0.8397 -0.0003 -0.5430 +usemtl None +s 1 +f 33/33/49 34/34/49 35/35/49 +f 36/36/50 37/37/51 33/33/52 +f 38/38/53 39/39/53 36/36/53 +f 35/35/54 40/40/55 38/38/56 +f 37/37/57 40/40/57 34/34/57 +f 36/36/58 35/35/58 38/38/58 +f 33/33/49 37/37/49 34/34/49 +f 36/36/50 39/39/59 37/37/51 +f 38/38/53 40/40/53 39/39/53 +f 35/35/54 34/34/60 40/40/55 +f 37/37/57 39/39/57 40/40/57 +f 36/36/58 33/33/58 35/35/58 +o base_Cube.004 +v 0.420000 0.420000 0.010000 +v -0.420000 0.420000 -0.010000 +v -0.420000 0.420000 0.010000 +v 0.420000 -0.420000 0.010000 +v 0.420000 0.420000 -0.010000 +v -0.420000 -0.420000 0.010000 +v 0.420000 -0.420000 -0.010000 +v -0.420000 -0.420000 -0.010000 +vt 0.7524 0.8072 +vt -0.3038 0.8371 +vt -0.3038 0.8371 +vt 0.7012 0.1905 +vt 0.7524 0.8072 +vt -0.3550 0.2204 +vt 0.7012 0.1905 +vt -0.3550 0.2204 +vn -0.0000 1.0000 0.0000 +vn 1.0000 0.0000 0.0000 +vn 0.0000 -1.0000 0.0000 +vn -1.0000 -0.0000 0.0000 +vn -0.0000 0.0000 -1.0000 +vn 0.0000 -0.0000 1.0000 +usemtl None +s 1 +f 41/41/61 42/42/61 43/43/61 +f 44/44/62 45/45/62 41/41/62 +f 46/46/63 47/47/63 44/44/63 +f 43/43/64 48/48/64 46/46/64 +f 45/45/65 48/48/65 42/42/65 +f 44/44/66 43/43/66 46/46/66 +f 41/41/61 45/45/61 42/42/61 +f 44/44/62 47/47/62 45/45/62 +f 46/46/63 48/48/63 47/47/63 +f 43/43/64 42/42/64 48/48/64 +f 45/45/65 47/47/65 48/48/65 +f 44/44/66 41/41/66 43/43/66 diff --git a/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.urdf b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.urdf new file mode 100644 index 000000000..8b89b015c --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.urdf @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.mtl b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.mtl new file mode 100755 index 000000000..e3b14fbaf --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0.000000 +Ka 0.000000 0.000000 0.000000 +Kd 0.800000 0.800000 0.800000 +Ks 0.800000 0.800000 0.800000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd tray.jpg diff --git a/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.obj b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.obj new file mode 100755 index 000000000..a05f010d8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.obj @@ -0,0 +1,256 @@ +# Blender v2.77 (sub 0) OBJ File: '' +# www.blender.org +mtllib tray_textured4.mtl +o edge_2_Cube +v 0.593683 0.625721 0.255175 +v 0.406317 0.459389 0.004580 +v 0.576239 0.625721 0.266503 +v 0.593683 -0.580640 0.255175 +v 0.423761 0.459389 -0.006748 +v 0.576239 -0.580640 0.266503 +v 0.423761 -0.413369 -0.007320 +v 0.406317 -0.413369 0.004008 +vt 0.9410 0.8520 +vt 0.7523 0.8566 +vt 0.9234 0.8524 +vt 0.8896 0.1426 +vt 0.7698 0.8562 +vt 0.8721 0.1430 +vt 0.7185 0.1468 +vt 0.7009 0.1472 +vn -0.2561 0.8826 -0.3943 +vn 0.8394 0.0003 -0.5435 +vn 0.8390 0.0001 -0.5441 +vn 0.8389 0.0000 -0.5443 +vn -0.2569 -0.8818 -0.3956 +vn -0.8390 -0.0003 0.5441 +vn -0.8394 -0.0001 0.5436 +vn -0.8395 -0.0000 0.5434 +vn -0.5446 0.0005 -0.8387 +vn 0.5446 -0.0000 0.8387 +vn 0.8396 0.0004 -0.5433 +vn -0.8388 -0.0004 0.5444 +usemtl None +s 1 +f 1/1/1 2/2/1 3/3/1 +f 4/4/2 5/5/3 1/1/4 +f 6/6/5 7/7/5 4/4/5 +f 3/3/6 8/8/7 6/6/8 +f 5/5/9 8/8/9 2/2/9 +f 4/4/10 3/3/10 6/6/10 +f 1/1/1 5/5/1 2/2/1 +f 4/4/2 7/7/11 5/5/3 +f 6/6/5 8/8/5 7/7/5 +f 3/3/6 2/2/12 8/8/7 +f 5/5/9 7/7/9 8/8/9 +f 4/4/10 1/1/10 3/3/10 +o edge_3_Cube.002 +v 0.580000 -0.573309 0.261247 +v -0.419400 -0.409917 0.008678 +v -0.580000 -0.573309 0.261247 +v 0.580000 -0.590083 0.250354 +v 0.419883 -0.409917 0.009162 +v -0.580000 -0.590083 0.250354 +v 0.419883 -0.426691 -0.001731 +v -0.419400 -0.426691 -0.002215 +vt 0.8690 0.1040 +vt 0.1365 0.1739 +vt 0.0188 0.1040 +vt 0.8690 0.0968 +vt 0.7517 0.1739 +vt 0.0188 0.0968 +vt 0.7517 0.1668 +vt 0.1365 0.1668 +vn -0.0002 0.8392 0.5438 +vn -0.0000 0.8395 0.5433 +vn 0.0000 0.8396 0.5432 +vn 0.8825 0.2562 -0.3945 +vn 0.0002 -0.8396 -0.5433 +vn 0.0000 -0.8392 -0.5438 +vn 0.0000 -0.8391 -0.5439 +vn -0.8821 0.2565 -0.3950 +vn -0.8822 0.2565 -0.3950 +vn 0.0005 0.5446 -0.8387 +vn 0.0000 -0.5446 0.8387 +vn -0.0003 0.8391 0.5440 +vn 0.0003 -0.8397 -0.5430 +usemtl None +s 1 +f 9/9/13 10/10/14 11/11/15 +f 12/12/16 13/13/16 9/9/16 +f 14/14/17 15/15/18 12/12/19 +f 11/11/20 16/16/21 14/14/21 +f 13/13/22 16/16/22 10/10/22 +f 12/12/23 11/11/23 14/14/23 +f 9/9/13 13/13/24 10/10/14 +f 12/12/16 15/15/16 13/13/16 +f 14/14/17 16/16/25 15/15/18 +f 11/11/20 10/10/21 16/16/21 +f 13/13/22 15/15/22 16/16/22 +f 12/12/23 9/9/23 11/11/23 +o base_Cube.004 +v 0.417551 0.466622 0.009942 +v -0.417551 0.466622 -0.009942 +v -0.417551 0.466622 0.009942 +v 0.417551 -0.415378 0.009942 +v 0.417551 0.466622 -0.009942 +v -0.417551 -0.415378 0.009942 +v 0.417551 -0.415378 -0.009942 +v -0.417551 -0.415378 -0.009942 +vt 0.7524 0.8072 +vt -0.3038 0.8371 +vt -0.3038 0.8371 +vt 0.7012 0.1905 +vt 0.7524 0.8072 +vt -0.3550 0.2204 +vt 0.7012 0.1905 +vt -0.3550 0.2204 +vn 0.0000 1.0000 0.0000 +vn 1.0000 -0.0000 0.0000 +vn 0.0000 -1.0000 0.0000 +vn -1.0000 -0.0000 0.0000 +vn 0.0000 0.0000 -1.0000 +vn 0.0000 -0.0000 1.0000 +usemtl None +s 1 +f 17/17/26 18/18/26 19/19/26 +f 20/20/27 21/21/27 17/17/27 +f 22/22/28 23/23/28 20/20/28 +f 19/19/29 24/24/29 22/22/29 +f 21/21/30 24/24/30 18/18/30 +f 20/20/31 19/19/31 22/22/31 +f 17/17/26 21/21/26 18/18/26 +f 20/20/27 23/23/27 21/21/27 +f 22/22/28 24/24/28 23/23/28 +f 19/19/29 18/18/29 24/24/29 +f 21/21/30 23/23/30 24/24/30 +f 20/20/31 17/17/31 19/19/31 +o edge_4_Cube.001 +v -0.576397 0.631608 0.266791 +v -0.423603 0.464243 -0.007768 +v -0.593877 0.631608 0.255439 +v -0.576397 -0.577253 0.266791 +v -0.406123 0.464243 0.003584 +v -0.593877 -0.577253 0.255439 +v -0.406123 -0.409889 0.004087 +v -0.423603 -0.409889 -0.007265 +vt 0.9046 0.2397 +vt 0.7929 0.2434 +vt 0.9174 0.2393 +vt 0.9537 0.7559 +vt 0.7801 0.2438 +vt 0.9664 0.7554 +vt 0.8291 0.7599 +vt 0.8419 0.7595 +vn 0.2565 0.8821 -0.3950 +vn 0.8392 0.0002 0.5438 +vn 0.8395 0.0000 0.5433 +vn 0.8396 -0.0000 0.5432 +vn 0.2568 -0.8819 -0.3954 +vn -0.8396 -0.0002 -0.5433 +vn -0.8392 -0.0000 -0.5438 +vn -0.8391 0.0000 -0.5439 +vn 0.5446 -0.0005 -0.8387 +vn -0.5446 -0.0000 0.8387 +vn 0.8391 0.0003 0.5440 +vn -0.8397 -0.0003 -0.5430 +usemtl None +s 1 +f 25/25/32 26/26/32 27/27/32 +f 28/28/33 29/29/34 25/25/35 +f 30/30/36 31/31/36 28/28/36 +f 27/27/37 32/32/38 30/30/39 +f 29/29/40 32/32/40 26/26/40 +f 28/28/41 27/27/41 30/30/41 +f 25/25/32 29/29/32 26/26/32 +f 28/28/33 31/31/42 29/29/34 +f 30/30/36 32/32/36 31/31/36 +f 27/27/37 26/26/43 32/32/38 +f 29/29/40 31/31/40 32/32/40 +f 28/28/41 25/25/41 27/27/41 +o edge_5_Cube.005 +v -0.326052 0.623641 0.266072 +v -0.174054 0.457147 -0.007058 +v -0.343442 0.623641 0.254779 +v -0.326052 -0.578931 0.266072 +v -0.156664 0.457147 0.004235 +v -0.343442 -0.578931 0.254779 +v -0.156664 -0.412938 0.005326 +v -0.174054 -0.412938 -0.005967 +vt 0.0506 0.8517 +vt 0.1935 0.8492 +vt 0.0342 0.8520 +vt 0.0164 0.1914 +vt 0.2099 0.8489 +vt 0.0001 0.1917 +vt 0.1757 0.1886 +vt 0.1594 0.1889 +vn 0.2565 0.8821 -0.3950 +vn 0.8387 0.0005 0.5446 +vn 0.8394 0.0001 0.5434 +vn 0.8396 -0.0000 0.5432 +vn 0.2565 -0.8822 -0.3950 +vn -0.8395 -0.0005 -0.5434 +vn -0.8388 -0.0001 -0.5445 +vn -0.8386 0.0000 -0.5448 +vn 0.5446 -0.0011 -0.8387 +vn -0.5446 -0.0000 0.8387 +vn 0.8384 0.0007 0.5451 +vn -0.8398 -0.0007 -0.5429 +usemtl None +s 1 +f 33/33/44 34/34/44 35/35/44 +f 36/36/45 37/37/46 33/33/47 +f 38/38/48 39/39/48 36/36/48 +f 35/35/49 40/40/50 38/38/51 +f 37/37/52 40/40/52 34/34/52 +f 36/36/53 35/35/53 38/38/53 +f 33/33/44 37/37/44 34/34/44 +f 36/36/45 39/39/54 37/37/46 +f 38/38/48 40/40/48 39/39/48 +f 35/35/49 34/34/55 40/40/50 +f 37/37/52 39/39/52 40/40/52 +f 36/36/53 33/33/53 35/35/53 +o edge_1_Cube.003 +v 0.580000 0.640851 0.250354 +v -0.419960 0.477459 -0.001860 +v -0.580000 0.640851 0.250354 +v 0.580000 0.624077 0.261247 +v 0.420014 0.477459 -0.001059 +v -0.580000 0.624077 0.261247 +v 0.420014 0.460685 0.009834 +v -0.419960 0.460685 0.009033 +vt 0.8346 0.9187 +vt 0.2203 0.8574 +vt 0.1480 0.9187 +vt 0.8346 0.9129 +vt 0.7623 0.8574 +vt 0.1480 0.9129 +vt 0.7623 0.8511 +vt 0.2203 0.8511 +vn 0.0004 0.8386 -0.5448 +vn 0.0001 0.8391 -0.5439 +vn 0.0000 0.8393 -0.5437 +vn 0.8823 -0.2564 -0.3948 +vn -0.0004 -0.8392 0.5439 +vn -0.0001 -0.8386 0.5447 +vn 0.0000 -0.8385 0.5449 +vn -0.8826 -0.2560 -0.3942 +vn 0.0008 -0.5446 -0.8387 +vn 0.0000 0.5446 0.8387 +vn 0.0005 0.8383 -0.5452 +vn -0.0005 -0.8394 0.5435 +usemtl None +s 1 +f 41/41/56 42/42/57 43/43/58 +f 44/44/59 45/45/59 41/41/59 +f 46/46/60 47/47/61 44/44/62 +f 43/43/63 48/48/63 46/46/63 +f 45/45/64 48/48/64 42/42/64 +f 44/44/65 43/43/65 46/46/65 +f 41/41/56 45/45/66 42/42/57 +f 44/44/59 47/47/59 45/45/59 +f 46/46/60 48/48/67 47/47/61 +f 43/43/63 42/42/63 48/48/63 +f 45/45/64 47/47/64 48/48/64 +f 44/44/65 41/41/65 43/43/65 diff --git a/examples/pybullet/gym/pybullet_envs/data/tray/traybox.urdf b/examples/pybullet/gym/pybullet_envs/data/tray/traybox.urdf new file mode 100644 index 000000000..58e578f11 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/data/tray/traybox.urdf @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/envs/env_bases.py b/examples/pybullet/gym/pybullet_envs/env_bases.py similarity index 100% rename from examples/pybullet/gym/envs/env_bases.py rename to examples/pybullet/gym/pybullet_envs/env_bases.py diff --git a/examples/pybullet/gym/agents/__init__.py b/examples/pybullet/gym/pybullet_envs/examples/__init__.py similarity index 100% rename from examples/pybullet/gym/agents/__init__.py rename to examples/pybullet/gym/pybullet_envs/examples/__init__.py diff --git a/examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py index 9af65cc3c..02691e0fc 100644 --- a/examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py @@ -1,7 +1,14 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os +import inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym import numpy as np import pybullet as p -import envs +import pybullet_envs import time def relu(x): diff --git a/examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py index bf8efd4da..9a9408060 100644 --- a/examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py @@ -1,7 +1,13 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym import numpy as np import pybullet as p -import envs +import pybullet_envs import time def relu(x): diff --git a/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py index fef4a281a..0340fe5db 100644 --- a/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py @@ -1,7 +1,14 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os +import inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym import numpy as np import pybullet as p -import envs +import pybullet_envs import time def relu(x): diff --git a/examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py index e6efee53a..1545813f9 100644 --- a/examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py @@ -1,7 +1,13 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym import numpy as np import pybullet as p -import envs +import pybullet_envs import time def relu(x): diff --git a/examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py similarity index 98% rename from examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py index 120fbb2a2..ee6a0906b 100644 --- a/examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py @@ -1,7 +1,13 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym import numpy as np import pybullet as p -import envs +import pybullet_envs import time def relu(x): diff --git a/examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py similarity index 98% rename from examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py index 3c9e21f00..6550f1efb 100644 --- a/examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py @@ -1,7 +1,13 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym import numpy as np import pybullet as p -import envs +import pybullet_envs import time def relu(x): diff --git a/examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py similarity index 98% rename from examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py index 311b33c3b..165d8097d 100644 --- a/examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py @@ -1,7 +1,13 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym import numpy as np import pybullet as p -import envs +import pybullet_envs import time def relu(x): diff --git a/examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py index f8da0978d..62fa07fa0 100644 --- a/examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py @@ -1,7 +1,13 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym import numpy as np import pybullet as p -import envs +import pybullet_envs import time def relu(x): diff --git a/examples/pybullet/gym/enjoy_kuka_grasping.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_kuka_grasping.py similarity index 61% rename from examples/pybullet/gym/enjoy_kuka_grasping.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_kuka_grasping.py index 2814e1b01..5950a593e 100644 --- a/examples/pybullet/gym/enjoy_kuka_grasping.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_kuka_grasping.py @@ -1,5 +1,11 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym -from envs.bullet.kukaGymEnv import KukaGymEnv +from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/enjoy_pybullet_cartpole.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_cartpole.py similarity index 62% rename from examples/pybullet/gym/enjoy_pybullet_cartpole.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_cartpole.py index 77fc29c53..7ede98c6d 100644 --- a/examples/pybullet/gym/enjoy_pybullet_cartpole.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_cartpole.py @@ -1,7 +1,13 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym from baselines import deepq -from envs.bullet.cartpole_bullet import CartPoleBulletEnv +from pybullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv def main(): env = gym.make('CartPoleBulletEnv-v0') diff --git a/examples/pybullet/gym/enjoy_pybullet_racecar.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_racecar.py similarity index 61% rename from examples/pybullet/gym/enjoy_pybullet_racecar.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_racecar.py index bc965f32d..76bfa9d03 100644 --- a/examples/pybullet/gym/enjoy_pybullet_racecar.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_racecar.py @@ -1,5 +1,11 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym -from envs.bullet.racecarGymEnv import RacecarGymEnv +from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/enjoy_pybullet_zed_racecar.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_zed_racecar.py similarity index 61% rename from examples/pybullet/gym/enjoy_pybullet_zed_racecar.py rename to examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_zed_racecar.py index c4c201703..acf6cf0f3 100644 --- a/examples/pybullet/gym/enjoy_pybullet_zed_racecar.py +++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_zed_racecar.py @@ -1,5 +1,11 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym -from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv +from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/kukaGymEnvTest.py b/examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest.py similarity index 75% rename from examples/pybullet/gym/kukaGymEnvTest.py rename to examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest.py index 05ca9497f..40ae7e9ec 100644 --- a/examples/pybullet/gym/kukaGymEnvTest.py +++ b/examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest.py @@ -1,5 +1,10 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) -from envs.bullet.kukaGymEnv import KukaGymEnv +from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv import time diff --git a/examples/pybullet/gym/racecarGymEnvTest.py b/examples/pybullet/gym/pybullet_envs/examples/racecarGymEnvTest.py similarity index 70% rename from examples/pybullet/gym/racecarGymEnvTest.py rename to examples/pybullet/gym/pybullet_envs/examples/racecarGymEnvTest.py index f9fda3fc3..6fa07a7b8 100644 --- a/examples/pybullet/gym/racecarGymEnvTest.py +++ b/examples/pybullet/gym/pybullet_envs/examples/racecarGymEnvTest.py @@ -1,5 +1,10 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) -from envs.bullet.racecarGymEnv import RacecarGymEnv +from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv print ("hello") environment = RacecarGymEnv(renders=True) diff --git a/examples/pybullet/gym/racecarZEDGymEnvTest.py b/examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py similarity index 70% rename from examples/pybullet/gym/racecarZEDGymEnvTest.py rename to examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py index 68364bcb4..2a33d456a 100644 --- a/examples/pybullet/gym/racecarZEDGymEnvTest.py +++ b/examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py @@ -1,5 +1,10 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) -from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv +from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv print ("hello") environment = RacecarZEDGymEnv(renders=True) diff --git a/examples/pybullet/gym/simpleHumanoidGymEnvTest.py b/examples/pybullet/gym/pybullet_envs/examples/simpleHumanoidGymEnvTest.py similarity index 57% rename from examples/pybullet/gym/simpleHumanoidGymEnvTest.py rename to examples/pybullet/gym/pybullet_envs/examples/simpleHumanoidGymEnvTest.py index b86b65081..a533f05f4 100644 --- a/examples/pybullet/gym/simpleHumanoidGymEnvTest.py +++ b/examples/pybullet/gym/pybullet_envs/examples/simpleHumanoidGymEnvTest.py @@ -1,5 +1,10 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) -from envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv +from pybullet_envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv print ("hello") environment = SimpleHumanoidGymEnv(renders=True) diff --git a/examples/pybullet/gym/train_kuka_cam_grasping.py b/examples/pybullet/gym/pybullet_envs/examples/train_kuka_cam_grasping.py similarity index 71% rename from examples/pybullet/gym/train_kuka_cam_grasping.py rename to examples/pybullet/gym/pybullet_envs/examples/train_kuka_cam_grasping.py index 93d4a2b78..053bc2ab2 100644 --- a/examples/pybullet/gym/train_kuka_cam_grasping.py +++ b/examples/pybullet/gym/pybullet_envs/examples/train_kuka_cam_grasping.py @@ -1,5 +1,11 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym -from envs.bullet.kukaCamGymEnv import KukaCamGymEnv +from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/train_kuka_grasping.py b/examples/pybullet/gym/pybullet_envs/examples/train_kuka_grasping.py similarity index 68% rename from examples/pybullet/gym/train_kuka_grasping.py rename to examples/pybullet/gym/pybullet_envs/examples/train_kuka_grasping.py index 10bb5c1ee..4de8130cb 100644 --- a/examples/pybullet/gym/train_kuka_grasping.py +++ b/examples/pybullet/gym/pybullet_envs/examples/train_kuka_grasping.py @@ -1,5 +1,11 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym -from envs.bullet.kukaGymEnv import KukaGymEnv +from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/train_pybullet_cartpole.py b/examples/pybullet/gym/pybullet_envs/examples/train_pybullet_cartpole.py similarity index 65% rename from examples/pybullet/gym/train_pybullet_cartpole.py rename to examples/pybullet/gym/pybullet_envs/examples/train_pybullet_cartpole.py index 4b7f4839e..f730d9154 100644 --- a/examples/pybullet/gym/train_pybullet_cartpole.py +++ b/examples/pybullet/gym/pybullet_envs/examples/train_pybullet_cartpole.py @@ -1,5 +1,11 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym -from envs.bullet.cartpole_bullet import CartPoleBulletEnv +from pybullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv from baselines import deepq diff --git a/examples/pybullet/gym/train_pybullet_racecar.py b/examples/pybullet/gym/pybullet_envs/examples/train_pybullet_racecar.py similarity index 67% rename from examples/pybullet/gym/train_pybullet_racecar.py rename to examples/pybullet/gym/pybullet_envs/examples/train_pybullet_racecar.py index face83e11..10d0a8328 100644 --- a/examples/pybullet/gym/train_pybullet_racecar.py +++ b/examples/pybullet/gym/pybullet_envs/examples/train_pybullet_racecar.py @@ -1,5 +1,11 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym -from envs.bullet.racecarGymEnv import RacecarGymEnv +from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/train_pybullet_zed_racecar.py b/examples/pybullet/gym/pybullet_envs/examples/train_pybullet_zed_racecar.py similarity index 70% rename from examples/pybullet/gym/train_pybullet_zed_racecar.py rename to examples/pybullet/gym/pybullet_envs/examples/train_pybullet_zed_racecar.py index 893824201..499d763f4 100644 --- a/examples/pybullet/gym/train_pybullet_zed_racecar.py +++ b/examples/pybullet/gym/pybullet_envs/examples/train_pybullet_zed_racecar.py @@ -1,5 +1,11 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os, inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0,parentdir) + import gym -from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv +from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/envs/gym_locomotion_envs.py b/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py similarity index 100% rename from examples/pybullet/gym/envs/gym_locomotion_envs.py rename to examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py diff --git a/examples/pybullet/gym/envs/gym_pendulum_envs.py b/examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py similarity index 100% rename from examples/pybullet/gym/envs/gym_pendulum_envs.py rename to examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py diff --git a/examples/pybullet/gym/envs/kerasrl_utils.py b/examples/pybullet/gym/pybullet_envs/kerasrl_utils.py similarity index 100% rename from examples/pybullet/gym/envs/kerasrl_utils.py rename to examples/pybullet/gym/pybullet_envs/kerasrl_utils.py diff --git a/examples/pybullet/gym/envs/robot_bases.py b/examples/pybullet/gym/pybullet_envs/robot_bases.py similarity index 96% rename from examples/pybullet/gym/envs/robot_bases.py rename to examples/pybullet/gym/pybullet_envs/robot_bases.py index 626de31bf..dd9dfbf3c 100644 --- a/examples/pybullet/gym/envs/robot_bases.py +++ b/examples/pybullet/gym/pybullet_envs/robot_bases.py @@ -83,10 +83,10 @@ class MujocoXmlBasedRobot: if self.self_collision: self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene( - p.loadMJCF(os.path.join("mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)) + p.loadMJCF(os.path.join(os.path.dirname(__file__),"data/mjcf", 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("mjcf", self.model_xml))) + p.loadMJCF(os.path.join(os.path.dirname(__file__),"data/mjcf", self.model_xml))) self.robot_specific_reset() @@ -205,4 +205,4 @@ class Joint: self.disable_motor() def disable_motor(self): - p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.VELOCITY_CONTROL, force=0) \ No newline at end of file + p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.VELOCITY_CONTROL, force=0) diff --git a/examples/pybullet/gym/envs/robot_locomotors.py b/examples/pybullet/gym/pybullet_envs/robot_locomotors.py similarity index 100% rename from examples/pybullet/gym/envs/robot_locomotors.py rename to examples/pybullet/gym/pybullet_envs/robot_locomotors.py diff --git a/examples/pybullet/gym/envs/robot_pendula.py b/examples/pybullet/gym/pybullet_envs/robot_pendula.py similarity index 100% rename from examples/pybullet/gym/envs/robot_pendula.py rename to examples/pybullet/gym/pybullet_envs/robot_pendula.py diff --git a/examples/pybullet/gym/envs/scene_abstract.py b/examples/pybullet/gym/pybullet_envs/scene_abstract.py similarity index 100% rename from examples/pybullet/gym/envs/scene_abstract.py rename to examples/pybullet/gym/pybullet_envs/scene_abstract.py diff --git a/examples/pybullet/gym/envs/scene_stadium.py b/examples/pybullet/gym/pybullet_envs/scene_stadium.py similarity index 81% rename from examples/pybullet/gym/envs/scene_stadium.py rename to examples/pybullet/gym/pybullet_envs/scene_stadium.py index 30ee26a1e..c66d8e9b6 100644 --- a/examples/pybullet/gym/envs/scene_stadium.py +++ b/examples/pybullet/gym/pybullet_envs/scene_stadium.py @@ -12,8 +12,10 @@ class StadiumScene(Scene): # 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("stadium.sdf") - self.ground_plane_mjcf = p.loadMJCF("mjcf/ground_plane.xml") + filename = os.path.join(os.path.dirname(__file__), "data", "stadium.sdf") + print(filename) + self.stadium = p.loadSDF(filename) + self.ground_plane_mjcf = p.loadMJCF(os.path.join(os.path.dirname(__file__), "data","mjcf/ground_plane.xml")) for i in self.ground_plane_mjcf: p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0]) diff --git a/examples/pybullet/gym/trpo_cartpole_bullet_gym.py b/examples/pybullet/gym/trpo_cartpole_bullet_gym.py deleted file mode 100644 index bac943217..000000000 --- a/examples/pybullet/gym/trpo_cartpole_bullet_gym.py +++ /dev/null @@ -1,31 +0,0 @@ -from envs.bullet.cartpole_bullet import CartPoleBulletEnv -from rllab.algos.trpo import TRPO -from rllab.baselines.linear_feature_baseline import LinearFeatureBaseline -from rllab.envs.gym_env import GymEnv -from rllab.envs.normalized_env import normalize -from rllab.policies.gaussian_mlp_policy import GaussianMLPPolicy - -env = normalize(GymEnv("CartPoleBulletEnv-v0")) - -policy = GaussianMLPPolicy( - env_spec=env.spec, - # The neural network policy should have two hidden layers, each with 32 hidden units. - hidden_sizes=(8,) -) - -baseline = LinearFeatureBaseline(env_spec=env.spec) - -algo = TRPO( - env=env, - policy=policy, - baseline=baseline, - batch_size=5000, - max_path_length=env.horizon, - n_itr=50, - discount=0.999, - step_size=0.01, - # Uncomment both lines (this and the plot parameter below) to enable plotting -# plot=True, -) - -algo.train() diff --git a/examples/pybullet/gym/trpo_tf_cartpole_bullet_gym.py b/examples/pybullet/gym/trpo_tf_cartpole_bullet_gym.py deleted file mode 100644 index 6e055be15..000000000 --- a/examples/pybullet/gym/trpo_tf_cartpole_bullet_gym.py +++ /dev/null @@ -1,35 +0,0 @@ -from envs.bullet.cartpole_bullet import CartPoleBulletEnv -from sandbox.rocky.tf.algos.trpo import TRPO -from sandbox.rocky.tf.policies.gaussian_mlp_policy import GaussianMLPPolicy -from sandbox.rocky.tf.envs.base import TfEnv - -from rllab.baselines.linear_feature_baseline import LinearFeatureBaseline -from rllab.envs.gym_env import GymEnv -from rllab.envs.normalized_env import normalize - -env = TfEnv(normalize(GymEnv("CartPoleBulletEnv-v0"))) - -policy = GaussianMLPPolicy( - name = "tf_gaussian_mlp", - env_spec=env.spec, - # The neural network policy should have two hidden layers, each with 32 hidden units. - hidden_sizes=(8,) -) - -baseline = LinearFeatureBaseline(env_spec=env.spec) - -algo = TRPO( - env=env, - policy=policy, - baseline=baseline, - batch_size=5000, - max_path_length=env.horizon, - n_itr=50, - discount=0.999, - step_size=0.01, - force_batch_sampler=True, - # Uncomment both lines (this and the plot parameter below) to enable plotting - #plot=True, -) - -algo.train() diff --git a/setup.py b/setup.py index deb3be881..c6ed3e235 100644 --- a/setup.py +++ b/setup.py @@ -418,6 +418,25 @@ else: +["examples/ThirdPartyLibs/Glew/glew.c"]\ + sources +setup_py_dir = os.path.dirname(os.path.realpath(__file__)) + +need_files = [] +datadir = "examples/pybullet/gym/pybullet_envs" + +hh = setup_py_dir + "/" + datadir + +for root, dirs, files in os.walk(hh): + for fn in files: + ext = os.path.splitext(fn)[1][1:] + if ext and ext in 'png jpg urdf sdf obj mtl dae off stl STL xml '.split(): + fn = root + "/" + fn + need_files.append(fn[1+len(hh):]) + +print("found resource files: %i" % len(need_files)) +for n in need_files: print("-- %s" % n) +print("packages") +print(find_packages('examples/pybullet/gym')) +print("-----") setup( name = 'pybullet', @@ -448,9 +467,9 @@ setup( 'Programming Language :: Python :: 3.5', 'Programming Language :: Python :: 3.6', 'Topic :: Games/Entertainment :: Simulation', - 'Framework :: Robot Framework'], - package_data = { - 'pybullet': ['data/*'], - }, + 'Framework :: Robot Framework'], + package_dir = { '': 'examples/pybullet/gym'}, + packages=[x for x in find_packages('examples/pybullet/gym')], + package_data = { 'pybullet_envs': need_files } )