add deepmimic args file (for testing)

implement deepmimic reward function (only joint angles/velocities for now)
fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp

examples/pybullet/gym/pybullet_data/args/kin_char_args.txt

@@ -0,0 +1,4 @@
+--scene kin_char
+
+--character_file data/characters/humanoid3d.txt
+--motion_file data/motions/humanoid3d_spinkick.txt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_backflip_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_backflip.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_backflip.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_cartwheel_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 9 10 12 13
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_cartwheel.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_cartwheel.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_crawl_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_crawl.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_crawl.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_dance_a_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_dance_a.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_dance_a.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_dance_b_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_dance_b.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_dance_b.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_getup_facedown_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--enable_char_contact_fall false
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_getup_facedown.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_getup_facedown.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_getup_faceup_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--enable_char_contact_fall false
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_getup_faceup.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_getup_faceup.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_jump_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_jump.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_jump.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_kick_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_kick.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_kick.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_punch_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_punch.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_punch.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_roll_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--enable_char_contact_fall false
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_roll.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_roll.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_run_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_run.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_run.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spin_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_spin.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_spin.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spinkick_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_spinkick.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_spinkick.ckpt

examples/pybullet/gym/pybullet_data/args/run_humanoid3d_walk_args.txt

@@ -0,0 +1,25 @@
+--scene imitate
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_walk.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+--train_agents false
+
+#--output_path output
+#--int_output_path output/intermediate
+--model_files data/policies/humanoid3d/humanoid3d_walk.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_backflip_args.txt

@@ -0,0 +1,34 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_backflip.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+--enable_root_rot_fail false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_cartwheel_args.txt

@@ -0,0 +1,34 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 9 10 12 13
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_cartwheel.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+--enable_root_rot_fail false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_crawl_args.txt

@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_crawl.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_dance_a_args.txt

@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_dance_a.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_dance_b_args.txt

@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_dance_b.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_getup_facedown_args.txt

@@ -0,0 +1,34 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--enable_char_contact_fall false
+--hold_end_frame 0.3
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_getup_facedown.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_getup_faceup_args.txt

@@ -0,0 +1,34 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--enable_char_contact_fall false
+--hold_end_frame 0.3
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_getup_faceup.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_jump_args.txt

@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_jump.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_kick_args.txt

@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 4
+--time_end_lim_max 4
+--time_end_lim_exp 10
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_kick.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_punch_args.txt

@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 4
+--time_end_lim_max 4
+--time_end_lim_exp 10
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_punch.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_roll_args.txt

@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--enable_char_contact_fall false
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_roll.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_run_args.txt

@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_run.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spin_args.txt

@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_spin.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spinkick_args.txt

@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_spinkick.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt

examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt

@@ -0,0 +1,33 @@
+--scene imitate
+
+--time_lim_min 0.5
+--time_lim_max 0.5
+--time_lim_exp 0.2
+--time_end_lim_min 20
+--time_end_lim_max 20
+--time_end_lim_exp 50
+--anneal_samples 32000000
+
+--num_update_substeps 10
+--num_sim_substeps 2
+--world_scale 4
+
+--terrain_file data/terrain/plane.txt
+
+--char_types general
+--character_files data/characters/humanoid3d.txt
+--enable_char_soft_contact false
+--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
+
+--char_ctrls ct_pd
+--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
+--motion_file data/motions/humanoid3d_walk.txt
+--sync_char_root_pos true
+--sync_char_root_rot false
+
+--agent_files data/agents/ct_agent_humanoid_ppo.txt
+#--train_agents false
+
+--output_path output
+#--int_output_path output/intermediate
+#--model_files data/policies/humanoid3d/agent0_model.ckpt