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refactor pybullet/gym to allow instantiating environments directly from a pybullet install:

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work-in-progress (need to add missing data files, fix paths etc)

example:

pip install pybullet
pip install gym

python
import gym
import pybullet
import pybullet_envs
env = gym.make("HumanoidBulletEnv-v0")
This commit is contained in:
Erwin Coumans
2017-08-22 00:42:02 -07:00
parent c06ea72a4c
commit 21f9d1b816
148 changed files with 115471 additions and 235 deletions
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134
examples/pybullet/gym/pybullet_envs/__init__.py Normal file
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from gym.envs.registration import registry, register, make, spec
# ------------bullet-------------
register(
id='CartPoleBulletEnv-v0',
entry_point='pybullet_envs.bullet:CartPoleBulletEnv',
timestep_limit=1000,
reward_threshold=950.0,
)
register(
id='MinitaurBulletEnv-v0',
entry_point='pybullet_envs.bullet:MinitaurBulletEnv',
timestep_limit=1000,
reward_threshold=5.0,
)
register(
id='RacecarBulletEnv-v0',
entry_point='pybullet_envs.bullet:RacecarBulletEnv',
timestep_limit=1000,
reward_threshold=5.0,
)
register(
id='RacecarZedBulletEnv-v0',
entry_point='pybullet_envs.bullet:RacecarZEDGymEnv',
timestep_limit=1000,
reward_threshold=5.0,
)
register(
id='SimpleHumanoidBulletEnv-v0',
entry_point='pybullet_envs.bullet:SimpleHumanoidGymEnv',
timestep_limit=1000,
reward_threshold=5.0,
)
register(
id='KukaBulletEnv-v0',
entry_point='pybullet_envs.bullet:KukaGymEnv',
timestep_limit=1000,
reward_threshold=5.0,
)
register(
id='KukaCamBulletEnv-v0',
entry_point='pybullet_envs.bullet:KukaCamGymEnv',
timestep_limit=1000,
reward_threshold=5.0,
)
register(
id='InvertedPendulumBulletEnv-v0',
entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumBulletEnv',
max_episode_steps=1000,
reward_threshold=950.0,
)
register(
id='InvertedDoublePendulumBulletEnv-v0',
entry_point='pybullet_envs.gym_pendulum_envs:InvertedDoublePendulumBulletEnv',
max_episode_steps=1000,
reward_threshold=9100.0,
)
register(
id='InvertedPendulumSwingupBulletEnv-v0',
entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumSwingupBulletEnv',
max_episode_steps=1000,
reward_threshold=800.0,
)
# register(
# id='ReacherBulletEnv-v0',
# entry_point='pybullet_envs.gym_manipulator_envs:ReacherBulletEnv',
# max_episode_steps=150,
# reward_threshold=18.0,
# )
#
# register(
# id='PusherBulletEnv-v0',
# entry_point='pybullet_envs.gym_manipulator_envs:PusherBulletEnv',
# max_episode_steps=150,
# reward_threshold=18.0,
# )
#
# register(
# id='ThrowerBulletEnv-v0',
# entry_point='pybullet_envs.gym_manipulator_envs:ThrowerBulletEnv',
# max_episode_steps=100,
# reward_threshold=18.0,
# )
#
# register(
# id='StrikerBulletEnv-v0',
# entry_point='pybullet_envs.gym_manipulator_envs:StrikerBulletEnv',
# max_episode_steps=100,
# reward_threshold=18.0,
# )
register(
id='Walker2DBulletEnv-v0',
entry_point='pybullet_envs.gym_locomotion_envs:Walker2DBulletEnv',
max_episode_steps=1000,
reward_threshold=2500.0
)
register(
id='HalfCheetahBulletEnv-v0',
entry_point='pybullet_envs.gym_locomotion_envs:HalfCheetahBulletEnv',
max_episode_steps=1000,
reward_threshold=3000.0
)
register(
id='AntBulletEnv-v0',
entry_point='pybullet_envs.gym_locomotion_envs:AntBulletEnv',
max_episode_steps=1000,
reward_threshold=2500.0
)
register(
id='HumanoidBulletEnv-v0',
entry_point='pybullet_envs.gym_locomotion_envs:HumanoidBulletEnv',
max_episode_steps=1000
)
register(
id='HopperBulletEnv-v0',
entry_point='pybullet_envs.gym_locomotion_envs:HopperBulletEnv',
max_episode_steps=1000,
reward_threshold=2500.0
)