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
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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
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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
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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
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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
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diff --git a/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml b/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml
deleted file mode 100644
index 0c2f2befa..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml
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diff --git a/examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml b/examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml
deleted file mode 100644
index 755cefd44..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml
+++ /dev/null
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diff --git 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
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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
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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
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deleted file mode 100644
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--- a/examples/pybullet/gym/envs/mujoco_assets/striker.xml
+++ /dev/null
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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
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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
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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
+++ /dev/null
@@ -1,23154 +0,0 @@
-# Exported using automatic converter by Erwin Coumans
-mtllib stadium.mtl
-#object stadium_white
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diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part1.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part1.obj
deleted file mode 100644
index 9a3bd4f38..000000000
--- a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part1.obj
+++ /dev/null
@@ -1,16210 +0,0 @@
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diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part2.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part2.obj
deleted file mode 100644
index cce77b870..000000000
--- a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part2.obj
+++ /dev/null
@@ -1,8350 +0,0 @@
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diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.mtl b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.mtl
deleted file mode 100644
index 334305a92..000000000
--- a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.mtl
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diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.obj
deleted file mode 100644
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--- a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.obj
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diff --git a/examples/pybullet/gym/envs/other_assets/stadium.sdf b/examples/pybullet/gym/envs/other_assets/stadium.sdf
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-
-
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."