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

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")

examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoid.py

@@ -0,0 +1,124 @@
+import pybullet as p
+import numpy as np
+import copy
+import math
+import time
+
+
+
+class SimpleHumanoid:
+
+  def __init__(self, urdfRootPath='', timeStep=0.01):
+    self.urdfRootPath = urdfRootPath
+    self.timeStep = timeStep
+    self.reset()
+    
+    
+
+  def reset(self):
+    self.initial_z = None
+   
+    objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
+    self.human = objs[0]
+    self.jdict = {}
+    self.ordered_joints = []
+    self.ordered_joint_indices = []
+
+    for j in range( p.getNumJoints(self.human) ):
+      info = p.getJointInfo(self.human, j)
+      link_name = info[12].decode("ascii")
+      if link_name=="left_foot": self.left_foot = j
+      if link_name=="right_foot": self.right_foot = j
+      self.ordered_joint_indices.append(j)
+      if info[2] != p.JOINT_REVOLUTE: continue
+      jname = info[1].decode("ascii")
+      self.jdict[jname] = j
+      lower, upper = (info[8], info[9])
+      self.ordered_joints.append( (j, lower, upper) )
+      p.setJointMotorControl2(self.human, j, controlMode=p.VELOCITY_CONTROL, force=0)
+
+    self.motor_names  = ["abdomen_z", "abdomen_y", "abdomen_x"]
+    self.motor_power  = [100, 100, 100]
+    self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
+    self.motor_power += [100, 100, 300, 200]
+    self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
+    self.motor_power += [100, 100, 300, 200]
+    self.motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
+    self.motor_power += [75, 75, 75]
+    self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
+    self.motor_power += [75, 75, 75]
+    self.motors = [self.jdict[n] for n in self.motor_names]
+    print("self.motors")
+    print(self.motors)
+    print("num motors")
+    print(len(self.motors))
+
+
+
+  def current_relative_position(self, jointStates, human, j, lower, upper):
+    #print("j")
+    #print(j)
+    #print (len(jointStates))
+    #print(j)
+    temp  = jointStates[j]
+    pos = temp[0]
+    vel = temp[1]
+    #print("pos")
+    #print(pos)
+    #print("vel")
+    #print(vel)
+    pos_mid = 0.5 * (lower + upper);
+    return (
+      2 * (pos - pos_mid) / (upper - lower),
+      0.1 * vel
+      )
+  
+  def collect_observations(self, human):
+    #print("ordered_joint_indices")
+    #print(ordered_joint_indices)
+    
+    
+    jointStates = p.getJointStates(human,self.ordered_joint_indices)
+    j = np.array([self.current_relative_position(jointStates, human, *jtuple) for jtuple in self.ordered_joints]).flatten()
+    #print("j")
+    #print(j)
+    body_xyz, (qx, qy, qz, qw) = p.getBasePositionAndOrientation(human)
+    #print("body_xyz")
+    #print(body_xyz, qx,qy,qz,qw)
+    z = body_xyz[2]
+    self.distance = body_xyz[0]
+    if self.initial_z==None:
+      self.initial_z = z
+    (vx, vy, vz), _ = p.getBaseVelocity(human)
+    more = np.array([z-self.initial_z, 0.1*vx, 0.1*vy, 0.1*vz, qx, qy, qz, qw])
+    rcont = p.getContactPoints(human, -1, self.right_foot, -1)
+    #print("rcont")
+    #print(rcont)
+    lcont = p.getContactPoints(human, -1, self.left_foot, -1)
+    #print("lcont")
+    #print(lcont)
+    feet_contact = np.array([len(rcont)>0, len(lcont)>0])
+    return np.clip( np.concatenate([more] + [j] + [feet_contact]), -5, +5)
+
+  def getActionDimension(self):
+    return len(self.motors)
+
+  def getObservationDimension(self):
+    return len(self.getObservation())
+
+  def getObservation(self):
+    observation = self.collect_observations(self.human)
+    return observation
+
+  def applyAction(self, actions):
+    forces = [0.] * len(self.motors)
+    for m in range(len(self.motors)):
+      forces[m] = self.motor_power[m]*actions[m]*0.082
+    p.setJointMotorControlArray(self.human, self.motors,controlMode=p.TORQUE_CONTROL, forces=forces)
+
+    p.stepSimulation()
+    time.sleep(0.01)
+    distance=5
+    yaw = 0
+    #humanPos, humanOrn = p.getBasePositionAndOrientation(self.human)
+    #p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);