Code for generating data used in the paper Reasoning About Physical Interactions with Object-Oriented Prediction and Planning.

Download MuJoCo 1.5 and run pip install -r requirements.txt with Python 3.6.

See mujoco/generate.py for an example. This should generate image sequences like the following:

Note that in the paper, we only used the first and final image instead of the full sequence. To only render these images, set render_freq equal to drop_steps_max-1:

python mujoco/generate.py --drop_steps_max 1001 --render_freq 1000 \
    --num_images 10 --img_dim 64 --min_objects 2 --max_objects 4 --output_path rendered/initial_final/

If you would like to add a new shape, just drop the stl file in assets/stl and add its filename (without the stl extension) to the list of polygons.