diff options
| author | erwincoumans <erwin.coumans@gmail.com> | 2018-11-11 19:04:07 -0800 |
|---|---|---|
| committer | erwincoumans <erwin.coumans@gmail.com> | 2018-11-11 19:04:07 -0800 |
| commit | 0b2142414d0bf0526122d41aec546a496669a630 (patch) | |
| tree | 8337a0596e669f8517b1e636e2771e485abbe2e0 /examples/pybullet/gym/pybullet_data | |
| parent | 17219f84c62e5fe3888b934a954a91b7774bd4b2 (diff) | |
| download | bullet3-0b2142414d0bf0526122d41aec546a496669a630.tar.gz | |
fix usage of btMultiBody::setJointPosMultiDof/setJointVelMultiDof
Diffstat (limited to 'examples/pybullet/gym/pybullet_data')
14 files changed, 1679 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_backflip.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_backflip.txt new file mode 100644 index 000000000..42ea9a7c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_backflip.txt @@ -0,0 +1,38 @@ +{ +"Loop": "wrap", +"Frames": +[ +[0.062500, 0.000000, 0.886733, 0.000000, 0.999412, 0.029215, -0.000525, -0.017963, 0.999985, 0.000432, 0.000572, 0.005500, 0.9897717, 0.001660, -0.0111650, -0.140564, 0.998945, -0.024450, -0.0008386, -0.0388686, -0.014186, 0.988643, 0.010702, -0.104681, 0.035223, 0.989539, -0.003003, -0.124234, 0.073280, 0.240463, 0.999678, -0.020920, -0.012925, -0.00630, -0.027859, 0.988643, -0.010702, 0.104681, -0.009223, 0.993344, 0.055661, -0.019608, 0.098917, 0.148934], +[0.062500, -0.020268, 0.909379, 0.000735, 0.999197, 0.030395, 0.008425, -0.024696, 0.999998, -0.000024, -0.001583, -0.001104, 0.989013, 0.004416, -0.008083, -0.145576, 0.999424, -0.033001, 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_cartwheel.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_cartwheel.txt new file mode 100644 index 000000000..b59cfb09c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_cartwheel.txt @@ -0,0 +1,176 @@ +{ +"Loop": "wrap", + +"RightJoints": [3, 4, 5, 6, 7, 8], +"LeftJoints": [9, 10, 11, 12, 13, 14], + +"Frames": +[ +[0.016666, 0.000000, 0.855360, 0.000000, 0.996643, -0.007001, 0.000573, -0.081570, 0.999363, 0.021306, -0.006453, 0.027910, 0.976122, 0.014834, 0.182458, -0.116937, 0.973843, -0.100155, -0.035055, 0.200921, -0.369571, 0.992424, 0.099420, 0.032999, 0.064199, 0.952238, -0.298047, -0.031514, 0.058460, 0.585361, 0.971246, 0.182824, 0.148849, 0.033171, -0.364281, 0.997745, -0.067077, 0.000703, 0.002352, 0.979249, 0.091079, 0.178945, -0.027482, 0.160215], +[0.016666, 0.003650, 0.856315, 0.006224, 0.996727, -0.006135, 0.005593, -0.080424, 0.999341, 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_crawl.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_crawl.txt new file mode 100644 index 000000000..45a319163 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_crawl.txt @@ -0,0 +1,183 @@ +{ +"Loop": "wrap", +"Frames": +[ +[0.016666, 0.000000, 0.171729, 0.000000, 0.682191, -0.186052, -0.329549, -0.625617, 0.955068, 0.272458, 0.090876, 0.073171, 0.954059, -0.015237, 0.178485, -0.240172, 0.651057, -0.155016, -0.089516, 0.737619, -2.291807, 0.997348, 0.014813, 0.001965, 0.071224, 0.589156, -0.496697, 0.526375, 0.359327, 1.957413, 0.998893, -0.035498, -0.013070, 0.027951, -0.371427, 0.970813, -0.074138, -0.222917, 0.048298, 0.814178, 0.300436, 0.094568, 0.487760, 1.661245], +[0.016666, -0.000826, 0.173568, 0.000273, 0.684854, -0.184988, -0.326625, -0.624557, 0.956054, 0.269225, 0.089609, 0.073818, 0.955394, -0.015080, 0.177750, -0.235372, 0.651490, 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_dance_a.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_dance_a.txt new file mode 100644 index 000000000..ab5a4dac0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_dance_a.txt @@ -0,0 +1,104 @@ +{ +"Loop": "wrap", +"Frames": +[ +[ 0.0166660007, 0.0000000000, 0.8412404400, 0.0000000000, 0.9646992331, 0.1395039872, -0.0319686927, -0.2210701925, 0.9810339138, -0.0900998271, -0.0512153839, -0.1638031303, 0.9118426417, -0.2604649343, 0.3071289675, 0.0798298943, 0.9155127684, 0.0240152336, -0.3736560383, 0.1471081389, -0.8870112327, 0.9376086146, 0.3078224890, -0.1072832555, -0.1209367773, 0.2613744828, -0.4496844479, 0.2336132916, 0.8215181721, 0.8081328224, 0.9014428149, -0.0784414586, 0.1920245229, 0.3799662770, -0.5172894105, 0.9730398247, -0.0740657154, 0.2130707852, -0.0480479943, 0.3763404554, 0.8842299781, 0.1083652358, 0.2544841509, 0.1767704373], 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_dance_b.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_dance_b.txt new file mode 100644 index 000000000..d380b5ef3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_dance_b.txt @@ -0,0 +1,159 @@ +{ +"Loop": "wrap", +"Frames": +[ +[ 0.0166660007, 0.0000000000, 0.7837601800, 0.0000000000, 0.9808313385, 0.1189326497, -0.0185803064, -0.1532308146, 0.9995109043, -0.0274785336, 0.0075429564, 0.0128835638, 0.9787092765, -0.0825229514, 0.0771908654, -0.1713466806, 0.9901532407, 0.1070983200, -0.0683993091, -0.0587200499, -0.1758576301, 0.9824156525, 0.1320621114, 0.1318966736, 0.0047277915, 0.6063475184, -0.1833347030, 0.6903473364, 0.3495019725, 0.8445403907, 0.9291993105, -0.1733559465, 0.0903675104, 0.3136400329, -0.9549970431, 0.9633068231, -0.0360814167, -0.0654360161, 0.2577910466, 0.9702815949, 0.0751718650, 0.1810817114, -0.1418175983, 0.4740349157], +[ 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_getup_facedown.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_getup_facedown.txt new file mode 100644 index 000000000..b707e2ed9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_getup_facedown.txt @@ -0,0 +1,189 @@ +{ +"Loop": "none", +"Frames": +[ +[ 0.0166660007, 0.0000000000, 0.0969315400, 0.0000000000, 0.8146221510, -0.0362872856, 0.0257595443, -0.5782823098, 0.9893831173, -0.0559290350, 0.1195836203, 0.0607679856, 0.8963326362, -0.0362345617, -0.2342828875, 0.3746817189, 0.9744651527, -0.1109688198, -0.1507453470, -0.1240138200, -0.1472237584, 0.9057970820, 0.2004932163, -0.0992216159, -0.3598460607, 0.8812040367, -0.2143528631, -0.0397143051, 0.4194699867, 1.8995687937, 0.9775873534, 0.0711323348, 0.1214643198, -0.1565553464, -0.0642647684, 0.9362468100, -0.0813855729, 0.0750134115, -0.3334535761, -0.7800703451, -0.0888026340, 0.2884673933, 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_getup_faceup.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_getup_faceup.txt new file mode 100644 index 000000000..43f83eff9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_getup_faceup.txt @@ -0,0 +1,233 @@ +{ +"Loop": "none", +"Frames": +[ +[ 0.0166660007, 0.0000000000, 0.1446378200, 0.0000000000, 0.6563873431, -0.0679270354, -0.0773423344, 0.7473685416, 0.9922643585, 0.0126624813, 0.1172258275, -0.0388485494, 0.9899073276, -0.0421923549, -0.1245919651, -0.0527269403, 0.9983458034, -0.0475555218, -0.0126497246, -0.0297340479, -0.2890195429, 0.8845908380, 0.2685408128, -0.1811729487, -0.3355014812, 0.9661849895, -0.2152756448, 0.0294564728, -0.1388354385, 0.3911293793, 0.9947749346, 0.0132468928, 0.0742018077, -0.0688581221, -0.1580971597, 0.9249382096, -0.1131509698, 0.0236116020, -0.3621169129, 0.9651820289, 0.2235495545, -0.1164521677, 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_jump.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_jump.txt new file mode 100644 index 000000000..540f080c2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_jump.txt @@ -0,0 +1,113 @@ +{ +"Loop": "wrap", +"Frames": +[ +[ 0.0166660007, 0.0000000000, 0.8819389000, 0.0000000000, 0.9947283650, -0.0049109539, 0.0005056756, -0.1024261034, 0.9941097452, 0.0021698245, 0.0008923958, -0.1083527113, 0.9978364277, -0.0425298480, 0.0170350499, -0.0471538191, 0.9940900597, -0.0341698885, -0.0746339340, 0.0710432810, -0.0965201984, 0.9837123673, -0.0166045899, 0.0303763780, 0.1763846412, 0.9696905623, -0.1833617529, 0.1567468523, 0.0388472030, 0.6249465548, 0.9955126104, 0.0472420285, 0.0009199515, 0.0819877250, -0.1566712257, 0.9883359267, -0.0825720500, -0.0502318336, 0.1176890624, 0.9504447014, 0.1585457036, -0.2643621017, 0.0403832728, 0.3062459426], +[ 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_kick.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_kick.txt new file mode 100644 index 000000000..44a8642eb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_kick.txt @@ -0,0 +1,53 @@ +{ +"Loop": "none", +"Frames": +[ +[ 0.0333333015, 0.0000000000, 0.7577040000, 0.0000000000, -0.9961860398, 0.0263161892, -0.0021968997, 0.0831625275, 0.9891732485, -0.0012968493, 0.0157765220, -0.1458962099, 0.9575524872, -0.0850737799, 0.1872322494, 0.2019895318, 0.9624490404, -0.0077550214, -0.1415960060, 0.2314784556, -1.0795419930, 0.9644092584, 0.0987325715, -0.1487828062, 0.3950136873, 0.9527796532, -0.2560283448, 0.1562378638, -0.0474357361, 1.5520426350, 0.8650128696, 0.0867517513, 0.1259648339, 0.4778699924, -0.8698441741, 0.9978054552, -0.0422917100, -0.0396654391, -0.0319740158, 0.8646200308, 0.4293653762, 0.1461038540, 0.2161740962, 2.2097567570], +[ 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_punch.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_punch.txt new file mode 100644 index 000000000..8f3fdcb71 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_punch.txt @@ -0,0 +1,71 @@ +{ +"Loop": "none", +"Frames": +[ +[ 0.0333333015, 0.0000000000, 0.7552130000, 0.0000000000, -0.9987538959, -0.0156329212, 0.0007417528, 0.0473889973, 0.9846340213, -0.0242133338, -0.0217993397, -0.1715644114, 0.9298864347, -0.1047859739, 0.2913040199, 0.1986783486, 0.9313745042, -0.0701820487, -0.2287967020, 0.2743502910, -1.2331117688, 0.9671125257, -0.1152596757, -0.1608785152, 0.1597706895, 0.8798335249, -0.1809300895, 0.2875353203, -0.3323863878, 1.7608342135, 0.8897955174, 0.0817464783, 0.1566260456, 0.4207727799, -0.9733299816, 0.9999585964, 0.0007656954, 0.0007519726, -0.0090362506, 0.9096390576, 0.3522476465, -0.1200240703, 0.1845876568, 0.9905186225], +[ 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_roll.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_roll.txt new file mode 100644 index 000000000..1d0e78129 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_roll.txt @@ -0,0 +1,127 @@ +{ +"Loop": "wrap", +"Frames": +[ +[0.016666, 0.000000, 0.870363, 0.024530, 0.995211, -0.026977, -0.091386, 0.021806, 0.985599, -0.016079, -0.026454, -0.166241, 0.980368, -0.006684, 0.196600, 0.013469, 0.998405, -0.034123, -0.022382, 0.039016, -0.358543, 0.994138, 0.056693, -0.013084, 0.091133, 0.765319, -0.234786, -0.101662, 0.267137, 1.484401, 0.972229, 0.108850, 0.100895, 0.112268, -0.562434, 0.992669, 0.052705, -0.038886, 0.101580, 0.874976, 0.24618, -0.035005, -0.038021, 0.631957], +[0.016666, 0.000000, 0.870363, 0.024530, 0.995211, -0.026977, -0.091386, 0.021806, 0.985599, -0.016079, -0.026454, -0.166241, 0.980368, -0.006684, 0.196600, 0.013469, 0.998405, 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_run.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_run.txt new file mode 100644 index 000000000..eb22f2f10 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_run.txt @@ -0,0 +1,36 @@ +{ +"Loop": "wrap", + +"RightJoints": [3, 4, 5, 6, 7, 8], +"LeftJoints": [9, 10, 11, 12, 13, 14], + +"Frames": +[ +[ 0.0333320000, 0.0000000000, 0.7806080000, 0.0000000000, 0.9788839996, -0.0616830630, 0.0122560125, -0.1945021986, 0.9947704520, 0.0887720403, -0.0226160103, -0.0451640205, 1.0000000000, 0.0000000000, 0.0000000000, 0.0000000000, 0.8857620880, 0.0641780064, 0.0105920011, 0.4595590457, -0.8142740000, 0.9816992189, -0.0026600006, 0.0012960003, 0.1904150425, 0.9514579532, -0.2452329879, 0.1302779936, -0.1327259935, 1.3537530000, 0.9918588180, 0.0771659858, 0.0583409893, 0.0828119848, -1.4171200000, 0.9864014327, -0.1535780674, 0.0332120146, -0.0481970211, 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_spin.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_spin.txt new file mode 100644 index 000000000..0b6d61145 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_spin.txt @@ -0,0 +1,113 @@ +{ +"Loop": "wrap", +"Frames": +[ +[0.041667, 0.000000, 0.885012, 0.000000, 0.998376, -0.026470, 0.001337, -0.050414, 0.999536, -0.003267, 0.013902, -0.026912, 0.993032, 0.006310, 0.043759, -0.109234, 0.997373, -0.050685, -0.037082, 0.036087, -0.613508, 0.988490, 0.002786, 0.068586, 0.134815, 0.998700, -0.026772, -0.031308, -0.030018, 0.538679, 0.997879, 0.003654, -0.054045, 0.036099, -0.067064, 0.996091, 0.002195, -0.070476, 0.033206, 0.989941, 0.097316, -0.101543, 0.015319, 0.353432], +[0.041667, -0.003001, 0.884295, -0.001201, 0.998242, -0.021624, -0.015713, -0.052895, 0.999538, -0.005329, 0.014989, -0.025884, 0.992868, 0.003527, 0.044462, -0.110557, 0.997836, 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\ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/motions/humanoid3d_spinkick.txt b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_spinkick.txt new file mode 100644 index 000000000..da920f0a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/motions/humanoid3d_spinkick.txt @@ -0,0 +1,84 @@ +{ +"Loop": "wrap", +"Frames": +[ +[0.016666, 0.000000, 0.825094, 0.000000, -0.996905, 0.045699, -0.002929, 0.063904, 0.998232, -0.021355, -0.046604, -0.030069, 0.974464, 0.057477, 0.066130, -0.206742, 0.969380, -0.056919, 0.035161, 0.236276, -0.811415, 0.979789, 0.058417, -0.092812, 0.167294, 0.676693, -0.665084, -0.314772, -0.025848, 1.122763, 0.975077, 0.084903, 0.181548, 0.095168, -0.626824, 0.923177, -0.263236, 0.027984, 0.278689, 0.703360, 0.596515, -0.315463, 0.223469, 1.445205], +[0.016666, -0.009816, 0.822315, 0.005273, -0.995812, 0.039495, -0.023647, 0.078991, 0.998262, -0.023414, -0.046779, -0.027143, 0.973684, 0.060764, 0.067428, -0.209049, 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\ No newline at end of file |