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* Adjustment: Update Bullet version to 3.24.

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Robert MacGregor 2022-06-27 10:01:08 -04:00
parent 35de012ee7
commit 4a3f31df2a
6148 changed files with 2112532 additions and 56873 deletions
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182
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/TwoJointRobot_w_fixedJoints.urdf Normal file
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from TwoJointRobot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_01_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_12_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_21_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_23_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_1">
<visual>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
</inertial>
</link>
<link name="link_2">
<visual>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
</inertial>
</link>
<joint name="link_01" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_01_cyl"/>
<child link="link_1"/>
</joint>
<joint name="link_12" type="fixed">
<origin rpy="0 0 0" xyz="1.0 0 0"/>
<parent link="link_1"/>
<child link="link_12_cyl"/>
</joint>
<joint name="link_21" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_21_cyl"/>
<child link="link_2"/>
</joint>
<joint name="link_23" type="fixed">
<origin rpy="0 0 0" xyz="1.0 0 0"/>
<parent link="link_2"/>
<child link="link_23_cyl"/>
</joint>
<joint name="joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-3" upper="+3" velocity="5"/>
<dynamics damping="0" friction="0"/>
<origin rpy="0 0 0" xyz="0 0 0.075"/>
<parent link="base_link"/>
<child link="link_01_cyl"/>
</joint>
<joint name="joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-3" upper="+3" velocity="5"/>
<dynamics damping="0" friction="0"/>
<origin rpy="0 0 0" xyz="0.0 0. 0.05"/>
<parent link="link_12_cyl"/>
<child link="link_21_cyl"/>
</joint>
</robot>

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Engine/lib/bullet/examples/pybullet/gym/pybullet_data/TwoJointRobot_wo_fixedJoints.urdf Normal file
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from TwoJointRobot_woCyl.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_23_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_1">
<visual>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
</inertial>
</link>
<link name="link_2">
<visual>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
</inertial>
</link>
<joint name="joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
<dynamics damping="0" friction="0"/>
<origin rpy="0 0 0" xyz="0 0 0.075"/>
<parent link="base_link"/>
<child link="link_1"/>
</joint>
<joint name="joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
<dynamics damping="0" friction="0"/>
<origin rpy="0 0 0" xyz="1.0 0. 0.05"/>
<parent link="link_1"/>
<child link="link_2"/>
</joint>
<joint name="link_23" type="fixed">
<origin rpy="0 0 0" xyz="1.0 0 0"/>
<parent link="link_2"/>
<child link="link_23_cyl"/>
</joint>
</robot>

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Engine/lib/bullet/examples/pybullet/gym/pybullet_data/__init__.py Normal file
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import os
def getDataPath():
resdir = os.path.join(os.path.dirname(__file__))
return resdir

375
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/a1/LICENSE Normal file
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Mozilla Public License Version 2.0
==================================
1. Definitions
--------------
1.1. "Contributor"
means each individual or legal entity that creates, contributes to
the creation of, or owns Covered Software.
1.2. "Contributor Version"
means the combination of the Contributions of others (if any) used
by a Contributor and that particular Contributor's Contribution.
1.3. "Contribution"
means Covered Software of a particular Contributor.
1.4. "Covered Software"
means Source Code Form to which the initial Contributor has attached
the notice in Exhibit A, the Executable Form of such Source Code
Form, and Modifications of such Source Code Form, in each case
including portions thereof.
1.5. "Incompatible With Secondary Licenses"
means
(a) that the initial Contributor has attached the notice described
in Exhibit B to the Covered Software; or
(b) that the Covered Software was made available under the terms of
version 1.1 or earlier of the License, but not also under the
terms of a Secondary License.
1.6. "Executable Form"
means any form of the work other than Source Code Form.
1.7. "Larger Work"
means a work that combines Covered Software with other material, in
a separate file or files, that is not Covered Software.
1.8. "License"
means this document.
1.9. "Licensable"
means having the right to grant, to the maximum extent possible,
whether at the time of the initial grant or subsequently, any and
all of the rights conveyed by this License.
1.10. "Modifications"
means any of the following:
(a) any file in Source Code Form that results from an addition to,
deletion from, or modification of the contents of Covered
Software; or
(b) any new file in Source Code Form that contains any Covered
Software.
1.11. "Patent Claims" of a Contributor
means any patent claim(s), including without limitation, method,
process, and apparatus claims, in any patent Licensable by such
Contributor that would be infringed, but for the grant of the
License, by the making, using, selling, offering for sale, having
made, import, or transfer of either its Contributions or its
Contributor Version.
1.12. "Secondary License"
means either the GNU General Public License, Version 2.0, the GNU
Lesser General Public License, Version 2.1, the GNU Affero General
Public License, Version 3.0, or any later versions of those
licenses.
1.13. "Source Code Form"
means the form of the work preferred for making modifications.
1.14. "You" (or "Your")
means an individual or a legal entity exercising rights under this
License. For legal entities, "You" includes any entity that
controls, is controlled by, or is under common control with You. For
purposes of this definition, "control" means (a) the power, direct
or indirect, to cause the direction or management of such entity,
whether by contract or otherwise, or (b) ownership of more than
fifty percent (50%) of the outstanding shares or beneficial
ownership of such entity.
2. License Grants and Conditions
--------------------------------
2.1. Grants
Each Contributor hereby grants You a world-wide, royalty-free,
non-exclusive license:
(a) under intellectual property rights (other than patent or trademark)
Licensable by such Contributor to use, reproduce, make available,
modify, display, perform, distribute, and otherwise exploit its
Contributions, either on an unmodified basis, with Modifications, or
as part of a Larger Work; and
(b) under Patent Claims of such Contributor to make, use, sell, offer
for sale, have made, import, and otherwise transfer either its
Contributions or its Contributor Version.
2.2. Effective Date
The licenses granted in Section 2.1 with respect to any Contribution
become effective for each Contribution on the date the Contributor first
distributes such Contribution.
2.3. Limitations on Grant Scope
The licenses granted in this Section 2 are the only rights granted under
this License. No additional rights or licenses will be implied from the
distribution or licensing of Covered Software under this License.
Notwithstanding Section 2.1(b) above, no patent license is granted by a
Contributor:
(a) for any code that a Contributor has removed from Covered Software;
or
(b) for infringements caused by: (i) Your and any other third party's
modifications of Covered Software, or (ii) the combination of its
Contributions with other software (except as part of its Contributor
Version); or
(c) under Patent Claims infringed by Covered Software in the absence of
its Contributions.
This License does not grant any rights in the trademarks, service marks,
or logos of any Contributor (except as may be necessary to comply with
the notice requirements in Section 3.4).
2.4. Subsequent Licenses
No Contributor makes additional grants as a result of Your choice to
distribute the Covered Software under a subsequent version of this
License (see Section 10.2) or under the terms of a Secondary License (if
permitted under the terms of Section 3.3).
2.5. Representation
Each Contributor represents that the Contributor believes its
Contributions are its original creation(s) or it has sufficient rights
to grant the rights to its Contributions conveyed by this License.
2.6. Fair Use
This License is not intended to limit any rights You have under
applicable copyright doctrines of fair use, fair dealing, or other
equivalents.
2.7. Conditions
Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
in Section 2.1.
3. Responsibilities
-------------------
3.1. Distribution of Source Form
All distribution of Covered Software in Source Code Form, including any
Modifications that You create or to which You contribute, must be under
the terms of this License. You must inform recipients that the Source
Code Form of the Covered Software is governed by the terms of this
License, and how they can obtain a copy of this License. You may not
attempt to alter or restrict the recipients' rights in the Source Code
Form.
3.2. Distribution of Executable Form
If You distribute Covered Software in Executable Form then:
(a) such Covered Software must also be made available in Source Code
Form, as described in Section 3.1, and You must inform recipients of
the Executable Form how they can obtain a copy of such Source Code
Form by reasonable means in a timely manner, at a charge no more
than the cost of distribution to the recipient; and
(b) You may distribute such Executable Form under the terms of this
License, or sublicense it under different terms, provided that the
license for the Executable Form does not attempt to limit or alter
the recipients' rights in the Source Code Form under this License.
3.3. Distribution of a Larger Work
You may create and distribute a Larger Work under terms of Your choice,
provided that You also comply with the requirements of this License for
the Covered Software. If the Larger Work is a combination of Covered
Software with a work governed by one or more Secondary Licenses, and the
Covered Software is not Incompatible With Secondary Licenses, this
License permits You to additionally distribute such Covered Software
under the terms of such Secondary License(s), so that the recipient of
the Larger Work may, at their option, further distribute the Covered
Software under the terms of either this License or such Secondary
License(s).
3.4. Notices
You may not remove or alter the substance of any license notices
(including copyright notices, patent notices, disclaimers of warranty,
or limitations of liability) contained within the Source Code Form of
the Covered Software, except that You may alter any license notices to
the extent required to remedy known factual inaccuracies.
3.5. Application of Additional Terms
You may choose to offer, and to charge a fee for, warranty, support,
indemnity or liability obligations to one or more recipients of Covered
Software. However, You may do so only on Your own behalf, and not on
behalf of any Contributor. You must make it absolutely clear that any
such warranty, support, indemnity, or liability obligation is offered by
You alone, and You hereby agree to indemnify every Contributor for any
liability incurred by such Contributor as a result of warranty, support,
indemnity or liability terms You offer. You may include additional
disclaimers of warranty and limitations of liability specific to any
jurisdiction.
4. Inability to Comply Due to Statute or Regulation
---------------------------------------------------
If it is impossible for You to comply with any of the terms of this
License with respect to some or all of the Covered Software due to
statute, judicial order, or regulation then You must: (a) comply with
the terms of this License to the maximum extent possible; and (b)
describe the limitations and the code they affect. Such description must
be placed in a text file included with all distributions of the Covered
Software under this License. Except to the extent prohibited by statute
or regulation, such description must be sufficiently detailed for a
recipient of ordinary skill to be able to understand it.
5. Termination
--------------
5.1. The rights granted under this License will terminate automatically
if You fail to comply with any of its terms. However, if You become
compliant, then the rights granted under this License from a particular
Contributor are reinstated (a) provisionally, unless and until such
Contributor explicitly and finally terminates Your grants, and (b) on an
ongoing basis, if such Contributor fails to notify You of the
non-compliance by some reasonable means prior to 60 days after You have
come back into compliance. Moreover, Your grants from a particular
Contributor are reinstated on an ongoing basis if such Contributor
notifies You of the non-compliance by some reasonable means, this is the
first time You have received notice of non-compliance with this License
from such Contributor, and You become compliant prior to 30 days after
Your receipt of the notice.
5.2. If You initiate litigation against any entity by asserting a patent
infringement claim (excluding declaratory judgment actions,
counter-claims, and cross-claims) alleging that a Contributor Version
directly or indirectly infringes any patent, then the rights granted to
You by any and all Contributors for the Covered Software under Section
2.1 of this License shall terminate.
5.3. In the event of termination under Sections 5.1 or 5.2 above, all
end user license agreements (excluding distributors and resellers) which
have been validly granted by You or Your distributors under this License
prior to termination shall survive termination.
************************************************************************
* *
* 6. Disclaimer of Warranty *
* ------------------------- *
* *
* Covered Software is provided under this License on an "as is" *
* basis, without warranty of any kind, either expressed, implied, or *
* statutory, including, without limitation, warranties that the *
* Covered Software is free of defects, merchantable, fit for a *
* particular purpose or non-infringing. The entire risk as to the *
* quality and performance of the Covered Software is with You. *
* Should any Covered Software prove defective in any respect, You *
* (not any Contributor) assume the cost of any necessary servicing, *
* repair, or correction. This disclaimer of warranty constitutes an *
* essential part of this License. No use of any Covered Software is *
* authorized under this License except under this disclaimer. *
* *
************************************************************************
************************************************************************
* *
* 7. Limitation of Liability *
* -------------------------- *
* *
* Under no circumstances and under no legal theory, whether tort *
* (including negligence), contract, or otherwise, shall any *
* Contributor, or anyone who distributes Covered Software as *
* permitted above, be liable to You for any direct, indirect, *
* special, incidental, or consequential damages of any character *
* including, without limitation, damages for lost profits, loss of *
* goodwill, work stoppage, computer failure or malfunction, or any *
* and all other commercial damages or losses, even if such party *
* shall have been informed of the possibility of such damages. This *
* limitation of liability shall not apply to liability for death or *
* personal injury resulting from such party's negligence to the *
* extent applicable law prohibits such limitation. Some *
* jurisdictions do not allow the exclusion or limitation of *
* incidental or consequential damages, so this exclusion and *
* limitation may not apply to You. *
* *
************************************************************************
8. Litigation
-------------
Any litigation relating to this License may be brought only in the
courts of a jurisdiction where the defendant maintains its principal
place of business and such litigation shall be governed by laws of that
jurisdiction, without reference to its conflict-of-law provisions.
Nothing in this Section shall prevent a party's ability to bring
cross-claims or counter-claims.
9. Miscellaneous
----------------
This License represents the complete agreement concerning the subject
matter hereof. If any provision of this License is held to be
unenforceable, such provision shall be reformed only to the extent
necessary to make it enforceable. Any law or regulation which provides
that the language of a contract shall be construed against the drafter
shall not be used to construe this License against a Contributor.
10. Versions of the License
---------------------------
10.1. New Versions
Mozilla Foundation is the license steward. Except as provided in Section
10.3, no one other than the license steward has the right to modify or
publish new versions of this License. Each version will be given a
distinguishing version number.
10.2. Effect of New Versions
You may distribute the Covered Software under the terms of the version
of the License under which You originally received the Covered Software,
or under the terms of any subsequent version published by the license
steward.
10.3. Modified Versions
If you create software not governed by this License, and you want to
create a new license for such software, you may create and use a
modified version of this License if you rename the license and remove
any references to the name of the license steward (except to note that
such modified license differs from this License).
10.4. Distributing Source Code Form that is Incompatible With Secondary
Licenses
If You choose to distribute Source Code Form that is Incompatible With
Secondary Licenses under the terms of this version of the License, the
notice described in Exhibit B of this License must be attached.
Exhibit A - Source Code Form License Notice
-------------------------------------------
This Source Code Form is subject to the terms of the Mozilla Public
License, v. 2.0. If a copy of the MPL was not distributed with this
file, You can obtain one at http://mozilla.org/MPL/2.0/.
If it is not possible or desirable to put the notice in a particular
file, then You may include the notice in a location (such as a LICENSE
file in a relevant directory) where a recipient would be likely to look
for such a notice.
You may add additional accurate notices of copyright ownership.
Exhibit B - "Incompatible With Secondary Licenses" Notice
---------------------------------------------------------
This Source Code Form is "Incompatible With Secondary Licenses", as
defined by the Mozilla Public License, v. 2.0.

58
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/a1/a1.py Normal file
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import pybullet as p
import time
import pybullet_data as pd
import numpy as np
p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
dt = 1./240.
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.loadURDF("plane.urdf")
robot = p.loadURDF("a1/a1.urdf",[0,0,0.5])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
p.setGravity(0,0,-9.8)
A1_DEFAULT_ABDUCTION_ANGLE = 0
A1_DEFAULT_HIP_ANGLE = 0.9
A1_DEFAULT_KNEE_ANGLE = -1.8
NUM_LEGS = 4
INIT_MOTOR_ANGLES = np.array([
A1_DEFAULT_ABDUCTION_ANGLE,
A1_DEFAULT_HIP_ANGLE,
A1_DEFAULT_KNEE_ANGLE
] * NUM_LEGS)
MOTOR_NAMES = [
"FR_hip_joint",
"FR_upper_joint",
"FR_lower_joint",
"FL_hip_joint",
"FL_upper_joint",
"FL_lower_joint",
"RR_hip_joint",
"RR_upper_joint",
"RR_lower_joint",
"RL_hip_joint",
"RL_upper_joint",
"RL_lower_joint",
]
motor_ids = []
for j in range (p.getNumJoints(robot)):
joint_info = p.getJointInfo(robot,j)
name = joint_info[1].decode('utf-8')
print("joint_info[1]=",name)
if name in MOTOR_NAMES:
motor_ids.append(j)
for index in range (12):
joint_id = motor_ids[index]
p.setJointMotorControl2(robot, joint_id, p.POSITION_CONTROL, INIT_MOTOR_ANGLES[index])
p.resetJointState(robot, joint_id, INIT_MOTOR_ANGLES[index])
print("motor_ids=",motor_ids)
while p.isConnected():
p.stepSimulation()
time.sleep(dt)

708
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/a1/a1.urdf Normal file
View file

@ -0,0 +1,708 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="a1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/trunk.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.267 0.194 0.114"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.012731 0.002186 0.000515"/>
<mass value="4.713"/>
<inertia ixx="0.01683993" ixy="8.3902e-05" ixz="0.000597679" iyy="0.056579028" iyz="2.5134e-05" izz="0.064713601"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.183 -0.047 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hip.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003311 -0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.081 0"/>
<parent link="FR_hip"/>
<child link="FR_upper_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FR_upper_shoulder">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="FR_upper_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.08505 0"/>
<parent link="FR_hip"/>
<child link="FR_upper"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
</joint>
<link name="FR_upper">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="FR_lower_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FR_upper"/>
<child link="FR_lower"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
</joint>
<link name="FR_lower">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/calf.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="FR_toe_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FR_lower"/>
<child link="FR_toe"/>
</joint>
<link name="FR_toe">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="FR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_upper_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_upper_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_upper_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_lower_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_lower_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_lower_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.183 0.047 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hip.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003311 0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.081 0"/>
<parent link="FL_hip"/>
<child link="FL_upper_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FL_upper_shoulder">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="FL_upper_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.08505 0"/>
<parent link="FL_hip"/>
<child link="FL_upper"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
</joint>
<link name="FL_upper">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/thigh.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="FL_lower_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FL_upper"/>
<child link="FL_lower"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
</joint>
<link name="FL_lower">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/calf.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="FL_toe_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FL_lower"/>
<child link="FL_toe"/>
</joint>
<link name="FL_toe">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="FL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_upper_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_upper_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_upper_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_lower_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_lower_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_lower_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.183 -0.047 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hip.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003311 -0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="RR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.081 0"/>
<parent link="RR_hip"/>
<child link="RR_upper_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RR_upper_shoulder">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="RR_upper_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.08505 0"/>
<parent link="RR_hip"/>
<child link="RR_upper"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
</joint>
<link name="RR_upper">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="RR_lower_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RR_upper"/>
<child link="RR_lower"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
</joint>
<link name="RR_lower">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/calf.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="RR_toe_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RR_lower"/>
<child link="RR_toe"/>
</joint>
<link name="RR_toe">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="RR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_upper_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_upper_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_upper_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_lower_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_lower_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_lower_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.183 0.047 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hip.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003311 0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="RL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.081 0"/>
<parent link="RL_hip"/>
<child link="RL_upper_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RL_upper_shoulder">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="RL_upper_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.08505 0"/>
<parent link="RL_hip"/>
<child link="RL_upper"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
</joint>
<link name="RL_upper">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/thigh.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="RL_lower_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RL_upper"/>
<child link="RL_lower"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
</joint>
<link name="RL_lower">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/calf.obj" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="RL_toe_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RL_lower"/>
<child link="RL_toe"/>
</joint>
<link name="RL_toe">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="RL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_upper_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_upper_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_upper_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_lower_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_lower_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_lower_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>

12
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/a1/meshes/calf.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl 材质
Ns 96.078431
Ka 1.000000 1.000000 1.000000
Kd 0.900000 0.900000 0.900000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

12
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/a1/meshes/hip.mtl Normal file
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@ -0,0 +1,12 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl 材质.001
Ns 96.078431
Ka 1.000000 1.000000 1.000000
Kd 0.400000 0.400000 0.400000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

12
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/a1/meshes/thigh.mtl Normal file
View file

@ -0,0 +1,12 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl 材质.002
Ns 96.078431
Ka 1.000000 1.000000 1.000000
Kd 0.400000 0.400000 0.400000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

12
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.mtl Normal file
View file

@ -0,0 +1,12 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl 材质.003
Ns 96.078431
Ka 1.000000 1.000000 1.000000
Kd 0.400000 0.400000 0.400000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

13
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.mtl Normal file
View file

@ -0,0 +1,13 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl 材质.004
Ns 96.078431
Ka 1.000000 1.000000 1.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
map_Kd trunk_A1.png

BIN
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/a1/meshes/trunk_A1.png Normal file
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After

Width:  |  Height:  |  Size: 70 KiB

58
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py Normal file
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import pybullet as p
import time
import pybullet_data as pd
import numpy as np
p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
dt = 1./240.
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.loadURDF("plane.urdf")
robot = p.loadURDF("aliengo/aliengo.urdf",[0,0,0.5])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
p.setGravity(0,0,-9.8)
ALIENGO_DEFAULT_ABDUCTION_ANGLE = 0
ALIENGO_DEFAULT_HIP_ANGLE = 1.2
ALIENGO_DEFAULT_KNEE_ANGLE = -2.0
NUM_LEGS = 4
INIT_MOTOR_ANGLES = np.array([
ALIENGO_DEFAULT_ABDUCTION_ANGLE,
ALIENGO_DEFAULT_HIP_ANGLE,
ALIENGO_DEFAULT_KNEE_ANGLE
] * NUM_LEGS)
MOTOR_NAMES = [
"FR_hip_joint",
"FR_upper_joint",
"FR_lower_joint",
"FL_hip_joint",
"FL_upper_joint",
"FL_lower_joint",
"RR_hip_joint",
"RR_upper_joint",
"RR_lower_joint",
"RL_hip_joint",
"RL_upper_joint",
"RL_lower_joint",
]
motor_ids = []
for j in range (p.getNumJoints(robot)):
joint_info = p.getJointInfo(robot,j)
name = joint_info[1].decode('utf-8')
print("joint_info[1]=",name)
if name in MOTOR_NAMES:
motor_ids.append(j)
for index in range (12):
joint_id = motor_ids[index]
p.setJointMotorControl2(robot, joint_id, p.POSITION_CONTROL, INIT_MOTOR_ANGLES[index])
p.resetJointState(robot, joint_id, INIT_MOTOR_ANGLES[index])
print("motor_ids=",motor_ids)
while p.isConnected():
p.stepSimulation()
time.sleep(dt)

493
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf Normal file
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<?xml version="1.0" ?>
<robot name="aliengo_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/trunk.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.647 0.15 0.112"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.008465 0.004045 -0.000763"/>
<mass value="9.041"/>
<inertia ixx="0.033260231" ixy="-0.000451628" ixz="0.000487603" iyy="0.16117211" iyz="4.8356e-05" izz="0.17460442"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.2399 -0.051 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hip.obj" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
<mass value="1.993"/>
<inertia ixx="0.002903894" ixy="7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
</inertial>
</link>
<joint name="FR_upper_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 -0.083 0"/>
<parent link="FR_hip"/>
<child link="FR_upper"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" velocity="40"/>
</joint>
<link name="FR_upper">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
<mass value="0.639"/>
<inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
</inertial>
</link>
<joint name="FR_lower_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FR_upper"/>
<child link="FR_lower"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
</joint>
<link name="FR_lower">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/calf.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
</inertial>
</link>
<joint name="FR_toe_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FR_lower"/>
<child link="FR_toe"/>
</joint>
<link name="FR_toe">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.2399 0.051 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hip.obj" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
<mass value="1.993"/>
<inertia ixx="0.002903894" ixy="-7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
</inertial>
</link>
<joint name="FL_upper_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 0.083 0"/>
<parent link="FL_hip"/>
<child link="FL_upper"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" velocity="40"/>
</joint>
<link name="FL_upper">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/thigh.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
<mass value="0.639"/>
<inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
</inertial>
</link>
<joint name="FL_lower_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FL_upper"/>
<child link="FL_lower"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
</joint>
<link name="FL_lower">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/calf.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
</inertial>
</link>
<joint name="FL_toe_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FL_lower"/>
<child link="FL_toe"/>
</joint>
<link name="FL_toe">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.2399 -0.051 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hip.obj" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
<mass value="1.993"/>
<inertia ixx="0.002903894" ixy="-7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
</inertial>
</link>
<joint name="RR_upper_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 -0.083 0"/>
<parent link="RR_hip"/>
<child link="RR_upper"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" velocity="40"/>
</joint>
<link name="RR_upper">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
<mass value="0.639"/>
<inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
</inertial>
</link>
<joint name="RR_lower_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RR_upper"/>
<child link="RR_lower"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
</joint>
<link name="RR_lower">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/calf.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
</inertial>
</link>
<joint name="RR_toe_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RR_lower"/>
<child link="RR_toe"/>
</joint>
<link name="RR_toe">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.2399 0.051 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hip.obj" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
<mass value="1.993"/>
<inertia ixx="0.002903894" ixy="7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
</inertial>
</link>
<joint name="RL_upper_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 0.083 0"/>
<parent link="RL_hip"/>
<child link="RL_upper"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" velocity="40"/>
</joint>
<link name="RL_upper">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/thigh.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
<mass value="0.639"/>
<inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
</inertial>
</link>
<joint name="RL_lower_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RL_upper"/>
<child link="RL_lower"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
</joint>
<link name="RL_lower">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/calf.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
</inertial>
</link>
<joint name="RL_toe_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RL_lower"/>
<child link="RL_toe"/>
</joint>
<link name="RL_toe">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
</robot>

BIN
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/aliengo/meshes/aliengo.png Normal file
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Engine/lib/bullet/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.mtl Normal file
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# Blender MTL File: 'aliengo.blend'
# 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 aliengo.png

10
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.mtl Normal file
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@ -0,0 +1,10 @@
# Blender MTL File: 'aliengo.blend'
# 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

11
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.mtl Normal file
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@ -0,0 +1,11 @@
# Blender MTL File: 'aliengo.blend'
# 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 aliengo.png

11
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.mtl Normal file
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@ -0,0 +1,11 @@
# Blender MTL File: 'aliengo.blend'
# 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 aliengo.png

13
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.mtl Normal file
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@ -0,0 +1,13 @@
# Blender MTL File: 'aliengo.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 aliengo.png

4
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/kin_char_args.txt Normal file
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@ -0,0 +1,4 @@
--scene kin_char
--character_file data/characters/humanoid3d.txt
--motion_file data/motions/humanoid3d_spinkick.txt

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_backflip_args.txt Normal file
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@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_cartwheel_args.txt Normal file
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@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_crawl_args.txt Normal file
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@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_dance_a_args.txt Normal file
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@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_dance_b_args.txt Normal file
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@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_getup_facedown_args.txt Normal file
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@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_getup_faceup_args.txt Normal file
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@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_jump_args.txt Normal file
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@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_kick_args.txt Normal file
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@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_punch_args.txt Normal file
View file

@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_roll_args.txt Normal file
View file

@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_run_args.txt Normal file
View file

@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spin_args.txt Normal file
View file

@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spinkick_args.txt Normal file
View file

@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_walk_args.txt Normal file
View file

@ -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

25
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_walker_args.txt Normal file
View file

@ -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/walker/walk_forward0.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_walker.ckpt

34
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_backflip_args.txt Normal file
View file

@ -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

34
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_cartwheel_args.txt Normal file
View file

@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_crawl_args.txt Normal file
View file

@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_dance_a_args.txt Normal file
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@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_dance_b_args.txt Normal file
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@ -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

34
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_getup_facedown_args.txt Normal file
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@ -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

34
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_getup_faceup_args.txt Normal file
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@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_jump_args.txt Normal file
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@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_kick_args.txt Normal file
View file

@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_punch_args.txt Normal file
View file

@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_roll_args.txt Normal file
View file

@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_run_args.txt Normal file
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@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spin_args.txt Normal file
View file

@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spinkick_args.txt Normal file
View file

@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt Normal file
View file

@ -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

33
Engine/lib/bullet/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walker_args.txt Normal file
View file

@ -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/walker/
--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

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Engine/lib/bullet/examples/pybullet/gym/pybullet_data/ball.vtk Normal file
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<joint name="r_ankle" type="revolute">
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29
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<?xml version="1.0"?>
<robot name="block_2">
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<lateral_friction value="1.0"/>
<spinning_friction value=".001"/>
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<material name="blockmat">
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<?xml version="1.0"?>
<robot name="physics">
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<box size="30 0.05 0.05"/>
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<material name="green">
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</link>
<link name="cart">
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<box size="0.5 0.5 0.2"/>
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<joint name="slider_to_cart" type="prismatic">
<axis xyz="1 0 0"/>
<origin xyz="0.0 0.0 0.0"/>
<parent link="slideBar"/>
<child link="cart"/>
<limit effort="1000.0" lower="-15" upper="15" velocity="5"/>
</joint>
<link name="pole">
<visual>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<inertial>
<origin xyz="0 0 0.5"/>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
</collision>
</link>
<joint name="cart_to_pole" type="continuous">
<axis xyz="0 1 0"/>
<origin xyz="0.0 0.0 0"/>
<parent link="cart"/>
<child link="pole"/>
</joint>
</robot>

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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 94.117647
Ka 1.000000 1.000000 1.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Kd cube.png

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<?xml version="1.0" ?>
<robot name="cube">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="cloth_z_up.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1 1 1"/>
</geometry>
</collision>
</link>
</robot>

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import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors
UPPER_BOUND = 6.28318548203
LOWER_BOUND = -6.28318548203
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 2
NUM_MOTORS = 12
NOISY_READING = True
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
robot_sensors.IMUSensor.channels = ["R", "P", "dR", "dP"]
robot_sensors.IMUSensor.noisy_reading = %NOISY_READING
robot_sensors.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
-6283.18554688, -6283.18554688]
robot_sensors.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
6283.18554688, 6283.18554688]
robot_sensors.MotorAngleSensor.num_motors = %NUM_MOTORS
robot_sensors.MotorAngleSensor.noisy_reading = %NOISY_READING
robot_sensors.MotorAngleSensor.lower_bound = -6.28318548203
robot_sensors.MotorAngleSensor.upper_bound = 6.28318548203
sensors = [@robot_sensors.IMUSensor(), @robot_sensors.MotorAngleSensor()]
Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
locomotion_gym_config.LocomotionGymConfig.actions = [
@Act0/locomotion_gym_config.ScalarField(),
@Act1/locomotion_gym_config.ScalarField(),
@Act2/locomotion_gym_config.ScalarField(),
@Act3/locomotion_gym_config.ScalarField(),
@Act4/locomotion_gym_config.ScalarField(),
@Act5/locomotion_gym_config.ScalarField(),
@Act6/locomotion_gym_config.ScalarField(),
@Act7/locomotion_gym_config.ScalarField(),
@Act8/locomotion_gym_config.ScalarField(),
@Act9/locomotion_gym_config.ScalarField(),
@Act10/locomotion_gym_config.ScalarField(),
@Act11/locomotion_gym_config.ScalarField()]

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import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
import pybullet_envs.minitaur.robots.laikago
URDF_ROOT = "urdf/"
ABDUCTION_P_GAIN = 220.0
ABDUCTION_D_GAIN = 0.3
HIP_P_GAIN = 220.0
HIP_D_GAIN = 2.0
KNEE_P_GAIN = 220.0
KNEE_D_GAIN = 2.0
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors
UPPER_BOUND = 6.28318548203
LOWER_BOUND = -6.28318548203
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 2
NUM_MOTORS = 12
NOISY_READING = True
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
robot_sensors.IMUSensor.channels = ["R", "P", "dR", "dP"]
robot_sensors.IMUSensor.noisy_reading = %NOISY_READING
robot_sensors.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
-6283.18554688, -6283.18554688]
robot_sensors.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
6283.18554688, 6283.18554688]
robot_sensors.MotorAngleSensor.num_motors = %NUM_MOTORS
robot_sensors.MotorAngleSensor.noisy_reading = %NOISY_READING
robot_sensors.MotorAngleSensor.lower_bound = -6.28318548203
robot_sensors.MotorAngleSensor.upper_bound = 6.28318548203
sensors = [@robot_sensors.IMUSensor(), @robot_sensors.MotorAngleSensor()]
Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
locomotion_gym_config.LocomotionGymConfig.actions = [
@Act0/locomotion_gym_config.ScalarField(),
@Act1/locomotion_gym_config.ScalarField(),
@Act2/locomotion_gym_config.ScalarField(),
@Act3/locomotion_gym_config.ScalarField(),
@Act4/locomotion_gym_config.ScalarField(),
@Act5/locomotion_gym_config.ScalarField(),
@Act6/locomotion_gym_config.ScalarField(),
@Act7/locomotion_gym_config.ScalarField(),
@Act8/locomotion_gym_config.ScalarField(),
@Act9/locomotion_gym_config.ScalarField(),
@Act10/locomotion_gym_config.ScalarField(),
@Act11/locomotion_gym_config.ScalarField()]
laikago.Laikago.urdf_root = %URDF_ROOT
laikago.Laikago.time_step = %SIM_TIME_STEP
laikago.Laikago.action_repeat = %NUM_ACTION_REPEAT
laikago.Laikago.self_collision_enabled = False
laikago.Laikago.control_latency = 0.002
laikago.Laikago.pd_latency = 0.0
laikago.Laikago.motor_kp = [%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN]
laikago.Laikago.motor_kd = [%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN]
laikago.Laikago.sensors = %sensors
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago.Laikago
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()

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#-*-Python-*-
# NOTE: Should be run with >=10CPU for decent performance.
import pybullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller
import pybullet_envs.minitaur.envs_v2.env_loader
import pybullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
import pybullet_envs.minitaur.envs_v2.sensors.camera_sensor
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
import pybullet_envs.minitaur.envs_v2.sensors.last_action_sensor
import pybullet_envs.minitaur.envs_v2.sensors.toe_position_sensor
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
import pybullet_envs.minitaur.envs_v2.utilities.noise_generators
import pybullet_envs.minitaur.robots.hybrid_motor_model
import pybullet_envs.minitaur.robots.laikago_v2
import pybullet_envs.minitaur.robots.robot_config
# Configure the dynamic robot
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 4 # Control frequency will be 100 Hz
########################################
# Configure the sensors
########################################
imu_sensor.IMUSensor.channels = [
%imu_sensor.IMUChannel.ROLL,
%imu_sensor.IMUChannel.PITCH,
%imu_sensor.IMUChannel.ROLL_RATE,
%imu_sensor.IMUChannel.PITCH_RATE
]
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203, -6283.18554688, -6283.18554688]
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203, 6283.18554688, 6283.18554688]
# Add noise to the IMU sensor and toe position sensor
IMUNoise/noise_generators.NormalNoise.scale = (0.025, 0.025, 0.1, 0.1)
TOENoise/noise_generators.NormalNoise.scale = (0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005)
imu_sensor.IMUSensor.noise_generator = @IMUNoise/noise_generators.NormalNoise()
toe_position_sensor.ToePositionSensor.noise_generator = @TOENoise/noise_generators.NormalNoise()
frontCamera/camera_sensor.CameraSensor.camera_translation_from_base = (0.197, 0.0, -0.115)
frontCamera/camera_sensor.CameraSensor.camera_rotation_from_base = (-0.4996018, 0.4999998, 0.4999998, 0.5003982)
frontCamera/camera_sensor.CameraSensor.parent_link_id = -1
frontCamera/camera_sensor.CameraSensor.resolution = (32, 24)
frontCamera/camera_sensor.CameraSensor.sensor_latency = 0.03
frontCamera/camera_sensor.CameraSensor.name = "frontCam"
frontCamera/camera_sensor.CameraSensor.fov_degree = 75
frontCamera/camera_sensor.CameraSensor.camera_mode = %sim_camera.CameraMode.DEPTH
frontCamera/camera_sensor.CameraSensor.camera_update_frequency_hz = 30.0
rearCamera/camera_sensor.CameraSensor.camera_translation_from_base = (-0.092, 0.0, -0.105)
rearCamera/camera_sensor.CameraSensor.camera_rotation_from_base = (-0.4996018, 0.4999998, 0.4999998, 0.5003982)
rearCamera/camera_sensor.CameraSensor.parent_link_id = -1
rearCamera/camera_sensor.CameraSensor.resolution = (32, 24)
rearCamera/camera_sensor.CameraSensor.sensor_latency = 0.03
rearCamera/camera_sensor.CameraSensor.name = "rearCam"
rearCamera/camera_sensor.CameraSensor.fov_degree = 75
rearCamera/camera_sensor.CameraSensor.camera_mode = %sim_camera.CameraMode.DEPTH
rearCamera/camera_sensor.CameraSensor.camera_update_frequency_hz = 30.0
sensors = [@imu_sensor.IMUSensor(), @last_action_sensor.LastActionSensor(), @toe_position_sensor.ToePositionSensor(), @frontCamera/camera_sensor.CameraSensor(), @rearCamera/camera_sensor.CameraSensor()]
laikago_v2.Laikago.sensors = %sensors
########################################
# Specify the motor model and its parameters
########################################
LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
laikago/robot_config.MotorLimits.torque_lower_limits = -30
laikago/robot_config.MotorLimits.torque_upper_limits = 30
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.HYBRID
laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
hybrid_motor_model.HybridMotorModel.kp = 250
hybrid_motor_model.HybridMotorModel.kd = (0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0)
########################################
# Setup the terrain randomization and simulation parameters
########################################
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
########################################
# Setup the task and terminal condition parameters
########################################
terminal_conditions.maxstep_terminal_condition.max_step = 2000
terminal_conditions.default_terminal_condition_for_laikago_v2.max_roll = 0.25
terminal_conditions.default_terminal_condition_for_laikago_v2.max_pitch = 1.0
terminal_conditions.default_terminal_condition_for_laikago_v2.min_height = 0.15
terminal_conditions.default_terminal_condition_for_laikago_v2.enforce_foot_contacts = True
# Setup the terminal condition
terminal_conditions.logical_any_terminal_condition.conditions = [
@terminal_conditions.default_terminal_condition_for_laikago_v2,
@terminal_conditions.maxstep_terminal_condition,
]
simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.logical_any_terminal_condition
env_loader.load.wrapper_classes = [
@mpc_locomotion_wrapper.MPCLocomotionWrapper,
]
########################################
# Configure the MPC-related parameters
########################################
torque_stance_leg_controller.TorqueStanceLegController.qp_weights = (5, 5, 0.2, 0, 0, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.1, 0)
torque_stance_leg_controller.TorqueStanceLegController.body_inertia = (0.183375, 0, 0, 0, 0.6267, 0, 0, 0, 0.636175)
torque_stance_leg_controller.TorqueStanceLegController.friction_coeffs = (0.45, 0.45, 0.45, 0.45)
########################################
# Configure the foothold wrapper parameters and action space
########################################
mpc_locomotion_wrapper.MPCLocomotionWrapper.foot_friction_coeff = 1.0
mpc_locomotion_wrapper.MPCLocomotionWrapper.locomotion_gait = %mpc_locomotion_wrapper.Gait.TROT
mpc_locomotion_wrapper.MPCLocomotionWrapper.control_frequency=20
mpc_locomotion_wrapper.MPCLocomotionWrapper.target_horizontal_com_velocity_heuristic = @mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic()
mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic.gains = (-0.25, -0.1)
mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_target_action_range = ((-0.05, -0.05, -0.03), (0.1, 0.05, 0.03))
mpc_locomotion_wrapper.MPCLocomotionWrapper.pitch_action_range = (-0.2, 0.2)
mpc_locomotion_wrapper.MPCLocomotionWrapper.roll_action_range = (-0.05, 0.05)
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_velocity_action_range = ((-0.05, -0.05), (0.05, 0.05))
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_twist_action_range = (-0.2, 0.2)
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_height_action_range = (0.42, 0.48)
mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_clearance_action_range = (0.05, 0.1)
imu_based_com_velocity_estimator.IMUBasedCOMVelocityEstimator.use_sensor_interface = False

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#-*-Python-*-
# NOTE: Should be run with >=10CPU for decent performance.
import pybullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller
import pybullet_envs.minitaur.envs_v2.env_loader
import pybullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper
import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.scenes.random_stepstone_scene
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
import pybullet_envs.minitaur.envs_v2.sensors.last_action_sensor
import pybullet_envs.minitaur.envs_v2.sensors.toe_position_sensor
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
import pybullet_envs.minitaur.envs_v2.utilities.noise_generators
import pybullet_envs.minitaur.robots.hybrid_motor_model
import pybullet_envs.minitaur.robots.laikago_v2
import pybullet_envs.minitaur.robots.robot_config
# Configure the dynamic robot
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 4 # Control frequency will be 100 Hz
########################################
# Configure the sensors
########################################
imu_sensor.IMUSensor.channels = [
%imu_sensor.IMUChannel.ROLL,
%imu_sensor.IMUChannel.PITCH,
%imu_sensor.IMUChannel.ROLL_RATE,
%imu_sensor.IMUChannel.PITCH_RATE
]
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203, -6283.18554688, -6283.18554688]
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203, 6283.18554688, 6283.18554688]
# Add noise to the IMU sensor and toe position sensor
# IMUNoise/noise_generators.NormalNoise.scale = (0.025, 0.025, 0.1, 0.1)
# TOENoise/noise_generators.NormalNoise.scale = (0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005)
# imu_sensor.IMUSensor.noise_generator = @IMUNoise/noise_generators.NormalNoise()
# toe_position_sensor.ToePositionSensor.noise_generator = @TOENoise/noise_generators.NormalNoise()
sensors = [@imu_sensor.IMUSensor(), @last_action_sensor.LastActionSensor(), @toe_position_sensor.ToePositionSensor()]
laikago_v2.Laikago.sensors = %sensors
########################################
# Specify the motor model and its parameters
########################################
LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
laikago/robot_config.MotorLimits.torque_lower_limits = -30
laikago/robot_config.MotorLimits.torque_upper_limits = 30
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.HYBRID
laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
hybrid_motor_model.HybridMotorModel.kp = 250
hybrid_motor_model.HybridMotorModel.kd = (0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0)
########################################
# Setup the terrain randomization and simulation parameters
########################################
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
locomotion_gym_env.LocomotionGymEnv.scene = @random_stepstone_scene.RandomStepstoneScene()
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
random_stepstone_scene.RandomStepstoneScene.random_seed = 13
random_stepstone_scene.RandomStepstoneScene.gap_length_lower_bound = 0.07
random_stepstone_scene.RandomStepstoneScene.gap_length_upper_bound = 0.15
random_stepstone_scene.RandomStepstoneScene.stone_width_lower_bound = 0.6
random_stepstone_scene.RandomStepstoneScene.stone_width_upper_bound = 0.6
########################################
# Setup the task and terminal condition parameters
########################################
terminal_conditions.maxstep_terminal_condition.max_step = 2000
terminal_conditions.default_terminal_condition_for_laikago_v2.max_roll = 0.25
terminal_conditions.default_terminal_condition_for_laikago_v2.max_pitch = 1.0
terminal_conditions.default_terminal_condition_for_laikago_v2.min_height = 0.15
terminal_conditions.default_terminal_condition_for_laikago_v2.enforce_foot_contacts = True
# Setup the terminal condition
terminal_conditions.logical_any_terminal_condition.conditions = [
@terminal_conditions.default_terminal_condition_for_laikago_v2,
@terminal_conditions.maxstep_terminal_condition,
]
simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.logical_any_terminal_condition
simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.0015
time_ordered_buffer.TimeOrderedBuffer.error_on_duplicate_timestamp = False
time_ordered_buffer.TimeOrderedBuffer.replace_value_on_duplicate_timestamp = True
time_ordered_buffer.TimeOrderedBuffer.error_on_timestamp_reversal = False
observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper.observation_excluded = ('frontCam', 'rearCam')
env_loader.load.wrapper_classes = [
@mpc_locomotion_wrapper.MPCLocomotionWrapper,
@observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper,
]
########################################
# Configure the MPC-related parameters
########################################
torque_stance_leg_controller.TorqueStanceLegController.qp_weights = (5, 5, 0.2, 0, 0, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.1, 0)
torque_stance_leg_controller.TorqueStanceLegController.body_inertia = (0.183375, 0, 0, 0, 0.6267, 0, 0, 0, 0.636175)
torque_stance_leg_controller.TorqueStanceLegController.friction_coeffs = (0.45, 0.45, 0.45, 0.45)
########################################
# Configure the foothold wrapper parameters and action space
########################################
mpc_locomotion_wrapper.MPCLocomotionWrapper.foot_friction_coeff = 1.0
mpc_locomotion_wrapper.MPCLocomotionWrapper.locomotion_gait = %mpc_locomotion_wrapper.Gait.TROT
mpc_locomotion_wrapper.MPCLocomotionWrapper.control_frequency=20
mpc_locomotion_wrapper.MPCLocomotionWrapper.target_horizontal_com_velocity_heuristic = @mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic()
mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic.gains = (-0.25, -0.1)
mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_target_action_range = ((-0.05, -0.05, -0.03), (0.1, 0.05, 0.03))
mpc_locomotion_wrapper.MPCLocomotionWrapper.pitch_action_range = (-0.2, 0.2)
mpc_locomotion_wrapper.MPCLocomotionWrapper.roll_action_range = (-0.05, 0.05)
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_velocity_action_range = ((-0.05, -0.05), (0.05, 0.05))
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_twist_action_range = (-0.2, 0.2)
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_height_action_range = (0.42, 0.48)
mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_clearance_action_range = (0.05, 0.1)
imu_based_com_velocity_estimator.IMUBasedCOMVelocityEstimator.use_sensor_interface = False

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#-*-Python-*-
# NOTE: Should be run with >=10CPU for decent performance.
import pybullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller
import pybullet_envs.minitaur.envs_v2.env_loader
import pybullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper
import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.scenes.random_stepstone_scene
import pybullet_envs.minitaur.envs_v2.sensors.camera_sensor
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
import pybullet_envs.minitaur.envs_v2.sensors.last_action_sensor
import pybullet_envs.minitaur.envs_v2.sensors.toe_position_sensor
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
import pybullet_envs.minitaur.envs_v2.utilities.noise_generators
import pybullet_envs.minitaur.robots.hybrid_motor_model
import pybullet_envs.minitaur.robots.laikago_v2
import pybullet_envs.minitaur.robots.robot_config
# Configure the dynamic robot
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 4 # Control frequency will be 100 Hz
########################################
# Configure the sensors
########################################
imu_sensor.IMUSensor.channels = [
%imu_sensor.IMUChannel.ROLL,
%imu_sensor.IMUChannel.PITCH,
%imu_sensor.IMUChannel.ROLL_RATE,
%imu_sensor.IMUChannel.PITCH_RATE
]
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203, -6283.18554688, -6283.18554688]
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203, 6283.18554688, 6283.18554688]
# Add noise to the IMU sensor and toe position sensor
IMUNoise/noise_generators.NormalNoise.scale = (0.025, 0.025, 0.1, 0.1)
TOENoise/noise_generators.NormalNoise.scale = (0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005)
imu_sensor.IMUSensor.noise_generator = @IMUNoise/noise_generators.NormalNoise()
toe_position_sensor.ToePositionSensor.noise_generator = @TOENoise/noise_generators.NormalNoise()
frontCamera/camera_sensor.CameraSensor.camera_translation_from_base = (0.197, 0.0, -0.115)
frontCamera/camera_sensor.CameraSensor.camera_rotation_from_base = (-0.4996018, 0.4999998, 0.4999998, 0.5003982)
frontCamera/camera_sensor.CameraSensor.parent_link_id = -1
frontCamera/camera_sensor.CameraSensor.resolution = (32, 24)
frontCamera/camera_sensor.CameraSensor.sensor_latency = 0.03
frontCamera/camera_sensor.CameraSensor.name = "frontCam"
frontCamera/camera_sensor.CameraSensor.fov_degree = 75
frontCamera/camera_sensor.CameraSensor.camera_mode = %sim_camera.CameraMode.DEPTH
frontCamera/camera_sensor.CameraSensor.camera_update_frequency_hz = 30.0
rearCamera/camera_sensor.CameraSensor.camera_translation_from_base = (-0.092, 0.0, -0.105)
rearCamera/camera_sensor.CameraSensor.camera_rotation_from_base = (-0.4996018, 0.4999998, 0.4999998, 0.5003982)
rearCamera/camera_sensor.CameraSensor.parent_link_id = -1
rearCamera/camera_sensor.CameraSensor.resolution = (32, 24)
rearCamera/camera_sensor.CameraSensor.sensor_latency = 0.03
rearCamera/camera_sensor.CameraSensor.name = "rearCam"
rearCamera/camera_sensor.CameraSensor.fov_degree = 75
rearCamera/camera_sensor.CameraSensor.camera_mode = %sim_camera.CameraMode.DEPTH
rearCamera/camera_sensor.CameraSensor.camera_update_frequency_hz = 30.0
sensors = [@imu_sensor.IMUSensor(), @last_action_sensor.LastActionSensor(), @toe_position_sensor.ToePositionSensor(), @frontCamera/camera_sensor.CameraSensor(), @rearCamera/camera_sensor.CameraSensor()]
laikago_v2.Laikago.sensors = %sensors
########################################
# Specify the motor model and its parameters
########################################
LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
laikago/robot_config.MotorLimits.torque_lower_limits = -30
laikago/robot_config.MotorLimits.torque_upper_limits = 30
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.HYBRID
laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
hybrid_motor_model.HybridMotorModel.kp = 250
hybrid_motor_model.HybridMotorModel.kd = (0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0)
########################################
# Setup the terrain randomization and simulation parameters
########################################
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
locomotion_gym_env.LocomotionGymEnv.scene = @random_stepstone_scene.RandomStepstoneScene()
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
random_stepstone_scene.RandomStepstoneScene.random_seed = 13
random_stepstone_scene.RandomStepstoneScene.gap_length_lower_bound = 0.07
random_stepstone_scene.RandomStepstoneScene.gap_length_upper_bound = 0.15
random_stepstone_scene.RandomStepstoneScene.stone_width_lower_bound = 0.6
random_stepstone_scene.RandomStepstoneScene.stone_width_upper_bound = 0.6
########################################
# Setup the task and terminal condition parameters
########################################
terminal_conditions.maxstep_terminal_condition.max_step = 2000
terminal_conditions.default_terminal_condition_for_laikago_v2.max_roll = 0.25
terminal_conditions.default_terminal_condition_for_laikago_v2.max_pitch = 1.0
terminal_conditions.default_terminal_condition_for_laikago_v2.min_height = 0.15
terminal_conditions.default_terminal_condition_for_laikago_v2.enforce_foot_contacts = True
# Setup the terminal condition
terminal_conditions.logical_any_terminal_condition.conditions = [
@terminal_conditions.default_terminal_condition_for_laikago_v2,
@terminal_conditions.maxstep_terminal_condition,
]
simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.logical_any_terminal_condition
simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.0015
time_ordered_buffer.TimeOrderedBuffer.error_on_duplicate_timestamp = False
time_ordered_buffer.TimeOrderedBuffer.replace_value_on_duplicate_timestamp = True
time_ordered_buffer.TimeOrderedBuffer.error_on_timestamp_reversal = False
observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper.observation_excluded = ('frontCam', 'rearCam')
env_loader.load.wrapper_classes = [
@mpc_locomotion_wrapper.MPCLocomotionWrapper,
@observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper,
]
########################################
# Configure the MPC-related parameters
########################################
torque_stance_leg_controller.TorqueStanceLegController.qp_weights = (5, 5, 0.2, 0, 0, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.1, 0)
torque_stance_leg_controller.TorqueStanceLegController.body_inertia = (0.183375, 0, 0, 0, 0.6267, 0, 0, 0, 0.636175)
torque_stance_leg_controller.TorqueStanceLegController.friction_coeffs = (0.45, 0.45, 0.45, 0.45)
########################################
# Configure the foothold wrapper parameters and action space
########################################
mpc_locomotion_wrapper.MPCLocomotionWrapper.foot_friction_coeff = 1.0
mpc_locomotion_wrapper.MPCLocomotionWrapper.locomotion_gait = %mpc_locomotion_wrapper.Gait.TROT
mpc_locomotion_wrapper.MPCLocomotionWrapper.control_frequency=20
mpc_locomotion_wrapper.MPCLocomotionWrapper.target_horizontal_com_velocity_heuristic = @mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic()
mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic.gains = (-0.25, -0.1)
mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_target_action_range = ((-0.05, -0.05, -0.03), (0.1, 0.05, 0.03))
mpc_locomotion_wrapper.MPCLocomotionWrapper.pitch_action_range = (-0.2, 0.2)
mpc_locomotion_wrapper.MPCLocomotionWrapper.roll_action_range = (-0.05, 0.05)
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_velocity_action_range = ((-0.05, -0.05), (0.05, 0.05))
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_twist_action_range = (-0.2, 0.2)
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_height_action_range = (0.42, 0.48)
mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_clearance_action_range = (0.05, 0.1)
imu_based_com_velocity_estimator.IMUBasedCOMVelocityEstimator.use_sensor_interface = False

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#-*-Python-*-
# NOTE: Should be run with >=10CPU for decent performance.
import pybullet_envs.minitaur.envs_v2.env_loader
import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop
import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
import pybullet_envs.minitaur.robots.laikago
URDF_ROOT = "urdf/"
ABDUCTION_P_GAIN = 220.0
ABDUCTION_D_GAIN = 0.3
HIP_P_GAIN = 220.0
HIP_D_GAIN = 2.0
KNEE_P_GAIN = 220.0
KNEE_D_GAIN = 2.0
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors
UPPER_BOUND = 6.28318548203
LOWER_BOUND = -6.28318548203
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 2
NUM_MOTORS = 12
NOISY_READING = True
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
robot_sensors.IMUSensor.channels = ["R", "P", "dR", "dP"]
robot_sensors.IMUSensor.noisy_reading = %NOISY_READING
robot_sensors.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
-6283.18554688, -6283.18554688]
robot_sensors.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
6283.18554688, 6283.18554688]
robot_sensors.MotorAngleSensor.num_motors = %NUM_MOTORS
robot_sensors.MotorAngleSensor.noisy_reading = %NOISY_READING
robot_sensors.MotorAngleSensor.lower_bound = -6.28318548203
robot_sensors.MotorAngleSensor.upper_bound = 6.28318548203
sensors = [@robot_sensors.IMUSensor(), @robot_sensors.MotorAngleSensor()]
Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
locomotion_gym_config.LocomotionGymConfig.actions = [
@Act0/locomotion_gym_config.ScalarField(),
@Act1/locomotion_gym_config.ScalarField(),
@Act2/locomotion_gym_config.ScalarField(),
@Act3/locomotion_gym_config.ScalarField(),
@Act4/locomotion_gym_config.ScalarField(),
@Act5/locomotion_gym_config.ScalarField(),
@Act6/locomotion_gym_config.ScalarField(),
@Act7/locomotion_gym_config.ScalarField(),
@Act8/locomotion_gym_config.ScalarField(),
@Act9/locomotion_gym_config.ScalarField(),
@Act10/locomotion_gym_config.ScalarField(),
@Act11/locomotion_gym_config.ScalarField()]
laikago.Laikago.urdf_root = %URDF_ROOT
laikago.Laikago.time_step = %SIM_TIME_STEP
laikago.Laikago.action_repeat = %NUM_ACTION_REPEAT
laikago.Laikago.self_collision_enabled = False
laikago.Laikago.control_latency = 0.002
laikago.Laikago.pd_latency = 0.0
laikago.Laikago.motor_kp = [%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN]
laikago.Laikago.motor_kd = [%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN]
laikago.Laikago.sensors = %sensors
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago.Laikago
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv.trajectory_generator = @simple_openloop.LaikagoPoseOffsetGenerator()
env_loader.load.wrapper_classes = [
@observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper,
@trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv]

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import pybullet_envs.minitaur.envs_v2.env_loader
import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop
import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
import pybullet_envs.minitaur.robots.hybrid_motor_model
import pybullet_envs.minitaur.robots.laikago_v2
import pybullet_envs.minitaur.robots.robot_config
# Specify the gym env parameters
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 4
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
# Specify the world.
URDF_ROOT = ""
scene_base.SceneBase.data_root = %URDF_ROOT
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
# Specify the task.
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
# Specify the sensors. Sensors determine the observation space.
# Sensors can either be mounted on robots (see below), or passed to envs
# i.e. like ambient sensors, or provided by tasks (task specific measures).
imu_sensor.IMUSensor.channels = [
%imu_sensor.IMUChannel.ROLL,
%imu_sensor.IMUChannel.PITCH,
%imu_sensor.IMUChannel.ROLL_RATE,
%imu_sensor.IMUChannel.PITCH_RATE,
]
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
-6283.18554688, -6283.18554688]
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
6283.18554688, 6283.18554688]
# We use the default confirugration for MotorAngleSensor, which reads limits from the robot.
SENSORS = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
# Specify the motor limits, and motor control mode.
LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
# Specify the motor model parameters. Notice that we don't need to specify the control mode or motor limits here.
hybrid_motor_model.HybridMotorModel.kp = 2400
hybrid_motor_model.HybridMotorModel.kd = 5
# Finally, mount sensors specified above to the Laikago.
laikago_v2.Laikago.sensors = %SENSORS

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#-*-Python-*-
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
import pybullet_envs.minitaur.robots.minitaur_motor_model_v2
import pybullet_envs.minitaur.robots.minitaur_v2
import pybullet_envs.minitaur.robots.robot_config
UPPER_BOUND = 1.0
LOWER_BOUND = -1.0
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 20
NUM_MOTORS = 8
NOISY_READING = True
SENSOR_LATENCY = 0.02
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
minitaur_v2.Minitaur.motor_control_mode = %robot_config.MotorControlMode.POSITION
minitaur_v2.Minitaur.motor_limits = @robot_config.MotorLimits()
minitaur_v2.Minitaur.motor_model_class = @minitaur_motor_model_v2.MinitaurMotorModel
minitaur_motor_model_v2.MinitaurMotorModel.pd_latency = 0.003
minitaur_motor_model_v2.MinitaurMotorModel.kp = 1.0
minitaur_motor_model_v2.MinitaurMotorModel.kd = 0.015
imu_sensor.IMUSensor.channels = [
%imu_sensor.IMUChannel.ROLL,
%imu_sensor.IMUChannel.PITCH,
%imu_sensor.IMUChannel.ROLL_RATE,
%imu_sensor.IMUChannel.PITCH_RATE
]
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
-6283.18554688, -6283.18554688]
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
6283.18554688, 6283.18554688]
motor_angle_sensor.MotorAngleSensor.sensor_latency = %SENSOR_LATENCY
motor_angle_sensor.MotorAngleSensor.lower_bound = -6.28318548203
motor_angle_sensor.MotorAngleSensor.upper_bound = 6.28318548203
minitaur_v2.Minitaur.sensors = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]

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import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
import pybullet_envs.minitaur.robots.minitaur_v2
import pybullet_envs.minitaur.robots.robot_config
import pybullet_envs.minitaur.robots.robot_urdf_loader
URDF_ROOT = "urdf/"
#-*-Python-*-
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
import pybullet_envs.minitaur.robots.minitaur_motor_model_v2
import pybullet_envs.minitaur.robots.minitaur_v2
import pybullet_envs.minitaur.robots.robot_config
UPPER_BOUND = 1.0
LOWER_BOUND = -1.0
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 20
NUM_MOTORS = 8
NOISY_READING = True
SENSOR_LATENCY = 0.02
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
minitaur_v2.Minitaur.motor_control_mode = %robot_config.MotorControlMode.POSITION
minitaur_v2.Minitaur.motor_limits = @robot_config.MotorLimits()
minitaur_v2.Minitaur.motor_model_class = @minitaur_motor_model_v2.MinitaurMotorModel
minitaur_motor_model_v2.MinitaurMotorModel.pd_latency = 0.003
minitaur_motor_model_v2.MinitaurMotorModel.kp = 1.0
minitaur_motor_model_v2.MinitaurMotorModel.kd = 0.015
imu_sensor.IMUSensor.channels = [
%imu_sensor.IMUChannel.ROLL,
%imu_sensor.IMUChannel.PITCH,
%imu_sensor.IMUChannel.ROLL_RATE,
%imu_sensor.IMUChannel.PITCH_RATE
]
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
-6283.18554688, -6283.18554688]
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
6283.18554688, 6283.18554688]
motor_angle_sensor.MotorAngleSensor.sensor_latency = %SENSOR_LATENCY
motor_angle_sensor.MotorAngleSensor.lower_bound = -6.28318548203
motor_angle_sensor.MotorAngleSensor.upper_bound = 6.28318548203
minitaur_v2.Minitaur.sensors = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
locomotion_gym_env.LocomotionGymEnv.robot_class = @minitaur_v2.Minitaur
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()

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import pybullet_envs.minitaur.envs_v2.env_loader
import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop
import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
import pybullet_envs.minitaur.envs_v2.sensors.accelerometer_sensor
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
import pybullet_envs.minitaur.robots.hybrid_motor_model
import pybullet_envs.minitaur.robots.laikago_v2
import pybullet_envs.minitaur.robots.time_ordered_buffer
# Specify the gym env parameters
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 2
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
# Specify the robot
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
# Specify the motor model parameters. Notice that we don't need to specify the control mode
# and motor limits here, as they will be passed from the robot interface.
hybrid_motor_model.HybridMotorModel.kp = 220
hybrid_motor_model.HybridMotorModel.kd = (0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0)
# This will make sure the hybrid motor model does not throw error during reset, when the timestamp is alwasy zero.
time_ordered_buffer.TimeOrderedBuffer.error_on_duplicate_timestamp = False
time_ordered_buffer.TimeOrderedBuffer.replace_value_on_duplicate_timestamp = True
# Add the sensors
laikago_v2.Laikago.sensors = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor(), @accelerometer_sensor.AccelerometerSensor()]
imu_sensor.IMUSensor.channels = [
%imu_sensor.IMUChannel.ROLL,
%imu_sensor.IMUChannel.PITCH,
%imu_sensor.IMUChannel.ROLL_RATE,
%imu_sensor.IMUChannel.PITCH_RATE,
]
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
-6283.18554688, -6283.18554688]
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
6283.18554688, 6283.18554688]
# Specify the scene
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
simple_scene.SimpleScene.data_root = "third_party/bullet/data"
# Specify the task.
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.default_terminal_condition_for_laikago
accelerometer_sensor.AccelerometerSensor.lower_bound = [-50.0, -50.0, -50.0]
accelerometer_sensor.AccelerometerSensor.upper_bound = [50.0, 50.0, 50.0]
accelerometer_sensor.AccelerometerSensor.sensor_latency = 0.01
imu_sensor.IMUSensor.sensor_latency = 0.1
# Define the wrappers needed
env_loader.load.wrapper_classes = [
@trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv,
]
trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv.trajectory_generator = @simple_openloop.LaikagoPoseOffsetGenerator()

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#import pybullet_data
#MYPATH = pybullet_data.getDataPath()+'/configs_v2/robots/laikago.gin'
#MYPATH = 'D:/dev/bullet3/examples/pybullet\gym/pybullet_data/configs_v2/robots/laikago.gin'
#include '$MYPATH/ambiguous.gin'
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.scenes.scene_base
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
import pybullet_envs.minitaur.robots.hybrid_motor_model
import pybullet_envs.minitaur.robots.laikago_v2
import pybullet_envs.minitaur.robots.robot_config
URDF_ROOT = ""
UPPER_BOUND = 6.28318548203
LOWER_BOUND = -6.28318548203
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 2
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
imu_sensor.IMUSensor.channels = [
%imu_sensor.IMUChannel.ROLL,
%imu_sensor.IMUChannel.PITCH,
%imu_sensor.IMUChannel.ROLL_RATE,
%imu_sensor.IMUChannel.PITCH_RATE,
]
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
-6283.18554688, -6283.18554688]
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
6283.18554688, 6283.18554688]
# We use the default confirugration for MotorAngleSensor, which reads limits from the robot.
SENSORS = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
# Specify the scene.
scene_base.SceneBase.data_root = %URDF_ROOT
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
# Specify the motor limits, and motor control mode.
laikago/robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
laikago/robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
# Specify the motor model parameters. Notice that we don't need to specify the control mode or motor limits here.
hybrid_motor_model.HybridMotorModel.kp = 220
hybrid_motor_model.HybridMotorModel.kd = 2
laikago_v2.Laikago.sensors = %SENSORS
laikago_v2.Laikago.sensors = [@imu_sensor.IMUSensor()]

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import pybullet_data as pd
include pd.getDataPath()+'/configs_v2/robots/mini_cheetah.gin'
include pd.getDataPath()+'/configs_v2/sensors/imu.gin'
#include 'robotics/reinforcement_learning/minitaur/envs_v2/configs_v2/robots/mini_cheetah.gin'
#include 'robotics/reinforcement_learning/minitaur/envs_v2/configs_v2/sensors/imu.gin'
mini_cheetah.MiniCheetah.sensors = [@robot_sensors.IMUSensor()]

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import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.scenes.scene_base
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
import pybullet_envs.minitaur.robots.hybrid_motor_model
import pybullet_envs.minitaur.robots.laikago_v2
import pybullet_envs.minitaur.robots.robot_config
URDF_ROOT = ""
UPPER_BOUND = 6.28318548203
LOWER_BOUND = -6.28318548203
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 2
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
imu_sensor.IMUSensor.channels = [
%imu_sensor.IMUChannel.ROLL,
%imu_sensor.IMUChannel.PITCH,
%imu_sensor.IMUChannel.ROLL_RATE,
%imu_sensor.IMUChannel.PITCH_RATE,
]
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
-6283.18554688, -6283.18554688]
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
6283.18554688, 6283.18554688]
# We use the default confirugration for MotorAngleSensor, which reads limits from the robot.
SENSORS = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
# Specify the scene.
scene_base.SceneBase.data_root = %URDF_ROOT
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
# Specify the motor limits, and motor control mode.
laikago/robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
laikago/robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
# Specify the motor model parameters. Notice that we don't need to specify the control mode or motor limits here.
hybrid_motor_model.HybridMotorModel.kp = 220
hybrid_motor_model.HybridMotorModel.kd = 2
laikago_v2.Laikago.sensors = %SENSORS

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import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.robots.mini_cheetah
import pybullet_data as pd
URDF_ROOT = pd.getDataPath()+"/urdf/"
ABDUCTION_P_GAIN = 100.0
ABDUCTION_D_GAIN = 1.0
HIP_P_GAIN = 30
HIP_D_GAIN = 2.0
KNEE_P_GAIN = 50
KNEE_D_GAIN = 2.0
UPPER_BOUND = 6.28318548203
LOWER_BOUND = -6.28318548203
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 2
NUM_MOTORS = 12
NOISY_READING = True
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
locomotion_gym_config.LocomotionGymConfig.actions = [
@Act0/locomotion_gym_config.ScalarField(),
@Act1/locomotion_gym_config.ScalarField(),
@Act2/locomotion_gym_config.ScalarField(),
@Act3/locomotion_gym_config.ScalarField(),
@Act4/locomotion_gym_config.ScalarField(),
@Act5/locomotion_gym_config.ScalarField(),
@Act6/locomotion_gym_config.ScalarField(),
@Act7/locomotion_gym_config.ScalarField(),
@Act8/locomotion_gym_config.ScalarField(),
@Act9/locomotion_gym_config.ScalarField(),
@Act10/locomotion_gym_config.ScalarField(),
@Act11/locomotion_gym_config.ScalarField()]
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
mini_cheetah.MiniCheetah.urdf_root = %URDF_ROOT
mini_cheetah.MiniCheetah.time_step = %SIM_TIME_STEP
mini_cheetah.MiniCheetah.action_repeat = %NUM_ACTION_REPEAT
mini_cheetah.MiniCheetah.self_collision_enabled = False
mini_cheetah.MiniCheetah.control_latency = 0.002
mini_cheetah.MiniCheetah.pd_latency = 0.0
mini_cheetah.MiniCheetah.motor_kp = [%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN]
mini_cheetah.MiniCheetah.motor_kd = [%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN]
locomotion_gym_env.LocomotionGymEnv.robot_class = @mini_cheetah.MiniCheetah

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import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.robots.minitaur_motor_model_v2
import pybullet_envs.minitaur.robots.minitaur_v2
URDF_ROOT = "robotics/reinforcement_learning/minitaur/robots/data/urdf/"
UPPER_BOUND = 6.28318548203
LOWER_BOUND = -6.28318548203
SIM_TIME_STEP = 0.001
NUM_ACTION_REPEAT = 6
NUM_MOTORS = 8
NOISY_READING = True
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
locomotion_gym_config.SimulationParameters.enable_rendering = False
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
minitaur_v2.Minitaur.motor_control_mode = %robot_config.MotorControlMode.POSITION
minitaur_v2.Minitaur.motor_limits = @robot_config.MotorLimits()
minitaur_v2.Minitaur.motor_model_class = @minitaur_motor_model_v2.MinitaurMotorModel
minitaur_motor_model_v2.MinitaurMotorModel.pd_latency = 0.003
minitaur_motor_model_v2.MinitaurMotorModel.kp = 1.0
minitaur_motor_model_v2.MinitaurMotorModel.kd = 0.015
locomotion_gym_env.LocomotionGymEnv.robot_class = @minitaur_v2.Minitaur
robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND

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Engine/lib/bullet/examples/pybullet/gym/pybullet_data/configs_v2/scenes/__init__.py Normal file
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import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()

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import pybullet_envs.minitaur.envs_v2.scenes.stair_scene
# Specify the scene (overwrite the setting from laikago_reactive.gin)
locomotion_gym_env.LocomotionGymEnv.scene = @stair_scene.StairScene()

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Engine/lib/bullet/examples/pybullet/gym/pybullet_data/configs_v2/tasks/__init__.py Normal file
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import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()

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Engine/lib/bullet/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_laikago.gin Normal file
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import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
simple_locomotion_task.SimpleForwardTask.energy_penalty_coef = 0.002
simple_locomotion_task.SimpleForwardTask.min_com_height = 0.3
simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.002

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import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
terminal_conditions.maxstep_terminal_condition.max_step = 1500
# Setup the terminal condition to not to terminate early when the robot falls.
terminal_conditions.logical_any_terminal_condition.conditions = [
@terminal_conditions.maxstep_terminal_condition,
]
simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.logical_any_terminal_condition
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()

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import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
terminal_conditions.maxstep_terminal_condition.max_step = 1500
simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.default_terminal_condition_for_laikago_v2
simple_locomotion_task.SimpleForwardTask.divide_with_dt = True
simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.4
simple_locomotion_task.SimpleForwardTask.energy_penalty_coef = 0
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()

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