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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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56
examples/pybullet/gym/pybullet_envs/data/table/table.urdf Normal file
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<?xml version="0.0" ?>
<robot name="table.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<geometry>
<mesh filename="table.obj" scale="1.5 1 0.05"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<geometry>
<box size="1.5 1 0.05"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="-0.65 -0.4 0.29"/>
<geometry>
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.65 0.4 0.29"/>
<geometry>
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.65 -0.4 0.29"/>
<geometry>
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.65 0.4 0.29"/>
<geometry>
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
</geometry>
</visual>
</link>
</robot>