diff --git a/examples/pybullet/gym/enjoy_TF_PybulletAnt_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_PybulletAnt_v0_2017may.py rename to examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py index ab6e99364..51c2a9781 100644 --- a/examples/pybullet/gym/enjoy_TF_PybulletAnt_v0_2017may.py +++ b/examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py @@ -1,7 +1,7 @@ import gym import numpy as np import pybullet as p -import pybulletgym.envs +import envs import time def relu(x): @@ -22,7 +22,7 @@ class SmallReactivePolicy: return x def demo_run(): - env = gym.make("PybulletAnt-v0") + env = gym.make("AntBulletEnv-v0") cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running.... if cid < 0: diff --git a/examples/pybullet/gym/enjoy_TF_PybulletHalfCheetah_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_PybulletHalfCheetah_v0_2017may.py rename to examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py index 5446a7ec9..ee6668a37 100644 --- a/examples/pybullet/gym/enjoy_TF_PybulletHalfCheetah_v0_2017may.py +++ b/examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py @@ -1,7 +1,7 @@ import gym import numpy as np import pybullet as p -import pybulletgym.envs +import envs import time def relu(x): @@ -22,7 +22,7 @@ class SmallReactivePolicy: return x def demo_run(): - env = gym.make("PybulletHalfCheetah-v0") + env = gym.make("HalfCheetahBulletEnv-v0") cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running.... if cid < 0: diff --git a/examples/pybullet/gym/enjoy_TF_PybulletHopper_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_PybulletHopper_v0_2017may.py rename to examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py index 6618b9ad2..722c01724 100644 --- a/examples/pybullet/gym/enjoy_TF_PybulletHopper_v0_2017may.py +++ b/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py @@ -1,7 +1,7 @@ import gym import numpy as np import pybullet as p -import pybulletgym.envs +import envs import time def relu(x): @@ -22,7 +22,7 @@ class SmallReactivePolicy: return x def demo_run(): - env = gym.make("PybulletHopper-v0") + env = gym.make("HopperBulletEnv-v0") cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running.... if cid < 0: diff --git a/examples/pybullet/gym/enjoy_TF_PybulletHumanoid_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_PybulletHumanoid_v0_2017may.py rename to examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py index caf7d8556..1440d7140 100644 --- a/examples/pybullet/gym/enjoy_TF_PybulletHumanoid_v0_2017may.py +++ b/examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py @@ -1,7 +1,7 @@ import gym import numpy as np import pybullet as p -import pybulletgym.envs +import envs import time def relu(x): @@ -23,7 +23,7 @@ class SmallReactivePolicy: return x def demo_run(): - env = gym.make("PybulletHumanoid-v0") + env = gym.make("HumanoidBulletEnv-v0") cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running.... if cid < 0: diff --git a/examples/pybullet/gym/enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py rename to examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py index a4978ec65..d30d2d61a 100644 --- a/examples/pybullet/gym/enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py +++ b/examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py @@ -1,7 +1,7 @@ import gym import numpy as np import pybullet as p -import pybulletgym.envs +import envs import time def relu(x): @@ -22,7 +22,7 @@ class SmallReactivePolicy: return x def demo_run(): - env = gym.make("PybulletInvertedDoublePendulum-v0") + env = gym.make("InvertedDoublePendulumBulletEnv-v0") cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running.... if cid < 0: diff --git a/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulum_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulum_v0_2017may.py rename to examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py index 424fe85bb..36cee0ea6 100644 --- a/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulum_v0_2017may.py +++ b/examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py @@ -1,7 +1,7 @@ import gym import numpy as np import pybullet as p -import pybulletgym.envs +import envs import time def relu(x): @@ -22,7 +22,7 @@ class SmallReactivePolicy: return x def demo_run(): - env = gym.make("PybulletInvertedPendulum-v0") + env = gym.make("InvertedPendulumBulletEnv-v0") cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running.... if cid < 0: diff --git a/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py rename to examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py index 4b64cc4fa..845608f7a 100644 --- a/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py +++ b/examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py @@ -1,7 +1,7 @@ -import gym, roboschool +import gym import numpy as np import pybullet as p -import pybulletgym.envs +import envs import time def relu(x): @@ -22,7 +22,7 @@ class SmallReactivePolicy: return x def demo_run(): - env = gym.make("PybulletInvertedPendulumSwingup-v0") + env = gym.make("InvertedPendulumSwingupBulletEnv-v0") cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running.... if cid < 0: diff --git a/examples/pybullet/gym/enjoy_TF_PybulletWalker2d_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/enjoy_TF_PybulletWalker2d_v0_2017may.py rename to examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py index f382e9114..758c933e1 100644 --- a/examples/pybullet/gym/enjoy_TF_PybulletWalker2d_v0_2017may.py +++ b/examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py @@ -1,7 +1,7 @@ import gym import numpy as np import pybullet as p -import pybulletgym.envs +import envs import time def relu(x): @@ -22,7 +22,7 @@ class SmallReactivePolicy: return x def demo_run(): - env = gym.make("PybulletWalker2d-v0") + env = gym.make("Walker2DBulletEnv-v0") cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running.... if cid < 0: diff --git a/examples/pybullet/gym/envs/__init__.py b/examples/pybullet/gym/envs/__init__.py index ae0c1c81f..218e15daa 100644 --- a/examples/pybullet/gym/envs/__init__.py +++ b/examples/pybullet/gym/envs/__init__.py @@ -30,12 +30,12 @@ register( reward_threshold=5.0, ) -register( - id='HumanoidBulletEnv-v0', - entry_point='envs.bullet:HumanoidGymEnv', - timestep_limit=1000, - reward_threshold=5.0, -) +# register( +# id='HumanoidBulletEnv-v0', +# entry_point='envs.bullet:HumanoidGymEnv', +# timestep_limit=1000, +# reward_threshold=5.0, +# ) register( id='KukaBulletEnv-v0', @@ -49,4 +49,86 @@ register( entry_point='envs.bullet:KukaCamGymEnv', timestep_limit=1000, reward_threshold=5.0, -) \ No newline at end of file +) + +register( + id='InvertedPendulumBulletEnv-v0', + entry_point='envs.gym_pendula_envs:InvertedPendulumBulletEnv', + max_episode_steps=1000, + reward_threshold=950.0, + ) + +register( + id='InvertedDoublePendulumBulletEnv-v0', + entry_point='envs.gym_pendula_envs:InvertedDoublePendulumBulletEnv', + max_episode_steps=1000, + reward_threshold=9100.0, + ) + +register( + id='InvertedPendulumSwingupBulletEnv-v0', + entry_point='envs.gym_pendula_envs:InvertedPendulumSwingupBulletEnv', + max_episode_steps=1000, + reward_threshold=800.0, + ) + +register( + id='HopperBulletEnv-v0', + entry_point='envs.gym_walker_envs:HopperBulletEnv', + max_episode_steps=1000, + reward_threshold=2500.0 + ) + +register( + id='ReacherBulletEnv-v0', + entry_point='envs.gym_manipulator_envs:ReacherBulletEnv', + max_episode_steps=150, + reward_threshold=18.0, + ) + +register( + id='PusherBulletEnv-v0', + entry_point='envs.gym_manipulator_envs:PusherBulletEnv', + max_episode_steps=150, + reward_threshold=18.0, +) + +register( + id='ThrowerBulletEnv-v0', + entry_point='envs.gym_manipulator_envs:ThrowerBulletEnv', + max_episode_steps=100, + reward_threshold=18.0, +) + +register( + id='StrikerBulletEnv-v0', + entry_point='envs.gym_manipulator_envs:StrikerBulletEnv', + max_episode_steps=100, + reward_threshold=18.0, +) + +register( + id='Walker2DBulletEnv-v0', + entry_point='envs.gym_walker_envs:Walker2DBulletEnv', + max_episode_steps=1000, + reward_threshold=2500.0 + ) +register( + id='HalfCheetahBulletEnv-v0', + entry_point='envs.gym_walker_envs:HalfCheetahBulletEnv', + max_episode_steps=1000, + reward_threshold=3000.0 + ) + +register( + id='AntBulletEnv-v0', + entry_point='envs.gym_walker_envs:AntBulletEnv', + max_episode_steps=1000, + reward_threshold=2500.0 + ) + +register( + id='HumanoidBulletEnv-v0', + entry_point='envs.gym_walker_envs:HumanoidBulletEnv', + max_episode_steps=1000 + ) diff --git a/examples/pybullet/gym/envs/gym_mujoco_xml_env.py b/examples/pybullet/gym/envs/env_bases.py similarity index 96% rename from examples/pybullet/gym/envs/gym_mujoco_xml_env.py rename to examples/pybullet/gym/envs/env_bases.py index 8d412eacc..a2a9f0b0d 100644 --- a/examples/pybullet/gym/envs/gym_mujoco_xml_env.py +++ b/examples/pybullet/gym/envs/env_bases.py @@ -4,7 +4,7 @@ import pybullet as p import os -class PybulletMujocoXmlEnv(gym.Env): +class MujocoXmlBaseBulletEnv(gym.Env): """ Base class for MuJoCo .xml actors in a Scene. These environments create single-player scenes and behave like normal Gym environments, if @@ -107,9 +107,9 @@ class PybulletMujocoXmlEnv(gym.Env): dump = 0 if self.self_collision: - self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", self.model_xml), flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)) + 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)) else: - self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", self.model_xml))) + self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join("mjcf", self.model_xml))) self.robot_specific_reset() s = self.calc_state() # optimization: calc_state() can calculate something in self.* for calc_potential() to use diff --git a/examples/pybullet/gym/envs/gym_manipulators.py b/examples/pybullet/gym/envs/gym_manipulator_envs.py similarity index 97% rename from examples/pybullet/gym/envs/gym_manipulators.py rename to examples/pybullet/gym/envs/gym_manipulator_envs.py index d42abb511..111968498 100644 --- a/examples/pybullet/gym/envs/gym_manipulators.py +++ b/examples/pybullet/gym/envs/gym_manipulator_envs.py @@ -1,10 +1,10 @@ from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene -from gym_mujoco_xml_env import PybulletMujocoXmlEnv +from env_bases import MujocoXmlBaseBulletEnv import gym, gym.spaces, gym.utils, gym.utils.seeding import numpy as np import os, sys -class PybulletReacher(PybulletMujocoXmlEnv): +class ReacherBulletEnv(MujocoXmlBaseBulletEnv): def __init__(self): PybulletMujocoXmlEnv.__init__(self, 'reacher.xml', 'body0', action_dim=2, obs_dim=9) @@ -74,7 +74,7 @@ class PybulletReacher(PybulletMujocoXmlEnv): self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z) -class PybulletPusher(PybulletMujocoXmlEnv): +class PusherBulletEnv(MujocoXmlBaseBulletEnv): def __init__(self): PybulletMujocoXmlEnv.__init__(self, 'pusher.xml', 'body0', action_dim=7, obs_dim=5) @@ -138,7 +138,7 @@ class PybulletPusher(PybulletMujocoXmlEnv): self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z) -class PybulletStriker(PybulletMujocoXmlEnv): +class StrikerBulletEnv(MujocoXmlBaseBulletEnv): def __init__(self): PybulletMujocoXmlEnv.__init__(self, 'striker.xml', 'body0', action_dim=7, obs_dim=5) self._striked = False @@ -230,7 +230,7 @@ class PybulletStriker(PybulletMujocoXmlEnv): self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z) -class PybulletThrower(PybulletMujocoXmlEnv): +class ThrowerBulletEnv(MujocoXmlBaseBulletEnv): def __init__(self): PybulletMujocoXmlEnv.__init__(self, 'thrower.xml', 'body0', action_dim=7, obs_dim=5) self._ball_hit_ground = False diff --git a/examples/pybullet/gym/envs/gym_pendula.py b/examples/pybullet/gym/envs/gym_pendula_envs.py similarity index 88% rename from examples/pybullet/gym/envs/gym_pendula.py rename to examples/pybullet/gym/envs/gym_pendula_envs.py index c13230e06..00b5ffc67 100644 --- a/examples/pybullet/gym/envs/gym_pendula.py +++ b/examples/pybullet/gym/envs/gym_pendula_envs.py @@ -1,15 +1,15 @@ -from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene -from gym_mujoco_xml_env import PybulletMujocoXmlEnv +from scene_abstract import SingleRobotEmptyScene +from env_bases import MujocoXmlBaseBulletEnv import gym, gym.spaces, gym.utils, gym.utils.seeding import numpy as np import os, sys -class PybulletInvertedPendulum(PybulletMujocoXmlEnv): +class InvertedPendulumBulletEnv(MujocoXmlBaseBulletEnv): swingup = False force_gain = 12 # TODO: Try to find out why we need to scale the force def __init__(self): - PybulletMujocoXmlEnv.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5) + MujocoXmlBaseBulletEnv.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5) def create_single_player_scene(self): return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1) @@ -73,13 +73,13 @@ class PybulletInvertedPendulum(PybulletMujocoXmlEnv): def camera_adjust(self): self.camera.move_and_look_at(0,1.2,1.0, 0,0,0.5) -class PybulletInvertedPendulumSwingup(PybulletInvertedPendulum): +class InvertedPendulumSwingupBulletEnv(InvertedPendulumBulletEnv): swingup = True force_gain = 2.2 # TODO: Try to find out why we need to scale the force -class PybulletInvertedDoublePendulum(PybulletMujocoXmlEnv): +class InvertedDoublePendulumBulletEnv(MujocoXmlBaseBulletEnv): def __init__(self): - PybulletMujocoXmlEnv.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9) + MujocoXmlBaseBulletEnv.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9) def create_single_player_scene(self): return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1) diff --git a/examples/pybullet/gym/envs/gym_forward_walkers.py b/examples/pybullet/gym/envs/gym_walker_envs.py similarity index 86% rename from examples/pybullet/gym/envs/gym_forward_walkers.py rename to examples/pybullet/gym/envs/gym_walker_envs.py index ca24c91e1..5e0e0dd86 100644 --- a/examples/pybullet/gym/envs/gym_forward_walkers.py +++ b/examples/pybullet/gym/envs/gym_walker_envs.py @@ -1,15 +1,15 @@ from distutils.command.config import config -from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene -from pybulletgym.envs.scene_stadium import SinglePlayerStadiumScene -from gym_mujoco_xml_env import PybulletMujocoXmlEnv +from scene_abstract import SingleRobotEmptyScene +from scene_stadium import SinglePlayerStadiumScene +from env_bases import MujocoXmlBaseBulletEnv import gym, gym.spaces, gym.utils, gym.utils.seeding import numpy as np import os, sys -class PybulletForwardWalkersBase(PybulletMujocoXmlEnv): +class WalkerBaseBulletEnv(MujocoXmlBaseBulletEnv): def __init__(self, fn, robot_name, action_dim, obs_dim, power): - PybulletMujocoXmlEnv.__init__(self, fn, robot_name, action_dim, obs_dim) + MujocoXmlBaseBulletEnv.__init__(self, fn, robot_name, action_dim, obs_dim) self.power = power self.camera_x = 0 self.walk_target_x = 1e3 # kilometer away @@ -132,33 +132,33 @@ class PybulletForwardWalkersBase(PybulletMujocoXmlEnv): self.camera_x = 0.98*self.camera_x + (1-0.98)*x self.camera.move_and_look_at(self.camera_x, y-2.0, 1.4, x, y, 1.0) -class PybulletHopper(PybulletForwardWalkersBase): +class HopperBulletEnv(WalkerBaseBulletEnv): foot_list = ["foot"] def __init__(self): - PybulletForwardWalkersBase.__init__(self, "hopper.xml", "torso", action_dim=3, obs_dim=15, power=0.75) + WalkerBaseBulletEnv.__init__(self, "hopper.xml", "torso", action_dim=3, obs_dim=15, power=0.75) def alive_bonus(self, z, pitch): return +1 if z > 0.8 and abs(pitch) < 1.0 else -1 -class PybulletWalker2d(PybulletForwardWalkersBase): +class Walker2DBulletEnv(WalkerBaseBulletEnv): foot_list = ["foot", "foot_left"] def __init__(self): - PybulletForwardWalkersBase.__init__(self, "walker2d.xml", "torso", action_dim=6, obs_dim=22, power=0.40) + WalkerBaseBulletEnv.__init__(self, "walker2d.xml", "torso", action_dim=6, obs_dim=22, power=0.40) def alive_bonus(self, z, pitch): return +1 if z > 0.8 and abs(pitch) < 1.0 else -1 def robot_specific_reset(self): - PybulletForwardWalkersBase.robot_specific_reset(self) + WalkerBaseBulletEnv.robot_specific_reset(self) for n in ["foot_joint", "foot_left_joint"]: self.jdict[n].power_coef = 30.0 -class PybulletHalfCheetah(PybulletForwardWalkersBase): +class HalfCheetahBulletEnv(WalkerBaseBulletEnv): foot_list = ["ffoot", "fshin", "fthigh", "bfoot", "bshin", "bthigh"] # track these contacts with ground def __init__(self): - PybulletForwardWalkersBase.__init__(self, "half_cheetah.xml", "torso", action_dim=6, obs_dim=26, power=0.90) + WalkerBaseBulletEnv.__init__(self, "half_cheetah.xml", "torso", action_dim=6, obs_dim=26, power=0.90) def alive_bonus(self, z, pitch): # Use contact other than feet to terminate episode: due to a lot of strange walks using knees return +1 if np.abs(pitch) < 1.0 and not self.feet_contact[1] and not self.feet_contact[2] and not self.feet_contact[4] and not self.feet_contact[5] else -1 def robot_specific_reset(self): - PybulletForwardWalkersBase.robot_specific_reset(self) + WalkerBaseBulletEnv.robot_specific_reset(self) self.jdict["bthigh"].power_coef = 120.0 self.jdict["bshin"].power_coef = 90.0 self.jdict["bfoot"].power_coef = 60.0 @@ -166,28 +166,28 @@ class PybulletHalfCheetah(PybulletForwardWalkersBase): self.jdict["fshin"].power_coef = 60.0 self.jdict["ffoot"].power_coef = 30.0 -class PybulletAnt(PybulletForwardWalkersBase): +class AntBulletEnv(WalkerBaseBulletEnv): foot_list = ['front_left_foot', 'front_right_foot', 'left_back_foot', 'right_back_foot'] def __init__(self): - PybulletForwardWalkersBase.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=10.5) + WalkerBaseBulletEnv.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=10.5) def alive_bonus(self, z, pitch): return +1 if z > 0.26 else -1 # 0.25 is central sphere rad, die if it scrapes the ground ## 3d Humanoid ## -class PybulletHumanoid(PybulletForwardWalkersBase): +class HumanoidBulletEnv(WalkerBaseBulletEnv): self_collision = True foot_list = ["right_foot", "left_foot"] # "left_hand", "right_hand" def __init__(self): - PybulletForwardWalkersBase.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=44, power=0.41) + WalkerBaseBulletEnv.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=44, power=0.41) # 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25 - self.electricity_cost = 4.25*PybulletForwardWalkersBase.electricity_cost - self.stall_torque_cost = 4.25*PybulletForwardWalkersBase.stall_torque_cost + self.electricity_cost = 4.25*WalkerBaseBulletEnv.electricity_cost + self.stall_torque_cost = 4.25*WalkerBaseBulletEnv.stall_torque_cost def robot_specific_reset(self): - PybulletForwardWalkersBase.robot_specific_reset(self) + WalkerBaseBulletEnv.robot_specific_reset(self) self.motor_names = ["abdomen_z", "abdomen_y", "abdomen_x"] self.motor_power = [100, 100, 100] self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"] diff --git a/examples/pybullet/gym/envs/mujoco_assets/ant.xml b/examples/pybullet/gym/envs/mujoco_assets/ant.xml deleted file mode 100644 index 311d96feb..000000000 --- a/examples/pybullet/gym/envs/mujoco_assets/ant.xml +++ /dev/null @@ -1,71 +0,0 @@ - - - diff --git a/examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml b/examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml deleted file mode 100644 index 0212c7f1b..000000000 --- a/examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml b/examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml deleted file mode 100644 index 418eef56d..000000000 --- a/examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml +++ /dev/null @@ -1,88 +0,0 @@ - - - - - - - - - - diff --git a/examples/pybullet/gym/envs/mujoco_assets/hopper.xml b/examples/pybullet/gym/envs/mujoco_assets/hopper.xml deleted file mode 100644 index 077160345..000000000 --- a/examples/pybullet/gym/envs/mujoco_assets/hopper.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - diff --git a/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml b/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml deleted file mode 100644 index d7ba9f494..000000000 --- a/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml +++ /dev/null @@ -1,107 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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a/examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml b/examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml deleted file mode 100644 index b409b3b11..000000000 --- a/examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - diff --git a/examples/pybullet/gym/envs/mujoco_assets/pusher.xml b/examples/pybullet/gym/envs/mujoco_assets/pusher.xml deleted file mode 100644 index 62abc06a9..000000000 --- a/examples/pybullet/gym/envs/mujoco_assets/pusher.xml +++ /dev/null @@ -1,91 +0,0 @@ - - - diff --git a/examples/pybullet/gym/envs/mujoco_assets/reacher.xml b/examples/pybullet/gym/envs/mujoco_assets/reacher.xml deleted file mode 100644 index 82b224ff6..000000000 --- a/examples/pybullet/gym/envs/mujoco_assets/reacher.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - diff --git a/examples/pybullet/gym/envs/mujoco_assets/striker.xml b/examples/pybullet/gym/envs/mujoco_assets/striker.xml deleted file mode 100644 index 75602324a..000000000 --- a/examples/pybullet/gym/envs/mujoco_assets/striker.xml +++ /dev/null @@ -1,101 +0,0 @@ - - - diff --git a/examples/pybullet/gym/envs/mujoco_assets/thrower.xml b/examples/pybullet/gym/envs/mujoco_assets/thrower.xml deleted file mode 100644 index 0ca6c3ea1..000000000 --- a/examples/pybullet/gym/envs/mujoco_assets/thrower.xml +++ /dev/null @@ -1,127 +0,0 @@ - - - diff --git a/examples/pybullet/gym/envs/mujoco_assets/walker2d.xml b/examples/pybullet/gym/envs/mujoco_assets/walker2d.xml deleted file mode 100644 index f1905c067..000000000 --- a/examples/pybullet/gym/envs/mujoco_assets/walker2d.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part0.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part0.obj deleted file mode 100644 index 0fa502c62..000000000 --- a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part0.obj +++ 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3189/3189/3189 3211/3211/3211 3212/3212/3212 diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium_grass.jpg b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium_grass.jpg deleted file mode 100644 index 28edc2a51..000000000 Binary files a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium_grass.jpg and /dev/null differ diff --git a/examples/pybullet/gym/envs/other_assets/stadium.sdf b/examples/pybullet/gym/envs/other_assets/stadium.sdf deleted file mode 100644 index 585b4eb16..000000000 --- a/examples/pybullet/gym/envs/other_assets/stadium.sdf +++ /dev/null @@ -1,107 +0,0 @@ - - - 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/envs/scene_abstract.py b/examples/pybullet/gym/envs/scene_abstract.py index f55575399..663401458 100644 --- a/examples/pybullet/gym/envs/scene_abstract.py +++ b/examples/pybullet/gym/envs/scene_abstract.py @@ -1,11 +1,3 @@ -# This is the only place cpp_household really imported. From other places, it is referenced as scene_abstract.cpp_household -# If this doesn't work, the checklist is: -# 1) Build local Bullet physics library (instructions in README) -# 2) ldd cpp_household.so -# 3) In case of python 2.7 when using pip2 install without -e, the C++ module gets built in python2.7/site-packages, -# but when you have roboschool directory in cwd or in parent(s) of cwd, python2 will use that and fail to reach site-packages. -# No such behavior in Python3. For example, no zoo scripts will work if you install without -e and run them from -# source tree. If you copy zoo script elsewhere, it will work. (upgrade to Python3 if you can.) import sys, os sys.path.append(os.path.dirname(__file__)) import pybullet as p diff --git a/examples/pybullet/gym/envs/scene_stadium.py b/examples/pybullet/gym/envs/scene_stadium.py index 4a6ea7033..61de550f9 100644 --- a/examples/pybullet/gym/envs/scene_stadium.py +++ b/examples/pybullet/gym/envs/scene_stadium.py @@ -12,8 +12,8 @@ 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(os.path.join(os.path.dirname(__file__), "other_assets", "stadium.sdf")) - self.ground_plane_mjcf = p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", "ground_plane.xml")) + self.stadium = p.loadSDF("stadium.sdf") + self.ground_plane_mjcf = p.loadMJCF("mjcf/ground_plane.xml") class SinglePlayerStadiumScene(StadiumScene): "This scene created by environment, to work in a way as if there was no concept of scene visible to user."