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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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49
examples/pybullet/gym/pybullet_envs/data/tray/traybox.urdf Normal file
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<robot name="tabletop">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="tray_material">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size=".6 .6 .02"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0.575469961 0" xyz="0.25 0 0.059"/>
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<collision>
<origin rpy="-0.575469961 0 0" xyz="0 0.25 0.059"/>
<geometry>
<box size=".6 .02 .15"/>
</geometry>
</collision>
</link>
</robot>