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/env_bases.py

@@ -0,0 +1,65 @@
+import gym, gym.spaces, gym.utils, gym.utils.seeding
+import numpy as np
+import pybullet as p
+
+
+class MujocoXmlBaseBulletEnv(gym.Env):
+	"""
+	Base class for MuJoCo .xml environments in a Scene.
+	These environments create single-player scenes and behave like normal Gym environments, if
+	you don't use multiplayer.
+	"""
+
+	metadata = {
+		'render.modes': ['human', 'rgb_array'],
+		'video.frames_per_second': 60
+		}
+
+	def __init__(self, robot):
+		self.scene = None
+
+		self.camera = Camera()
+
+		self.robot = robot
+
+		self._seed()
+
+		self.action_space = robot.action_space
+		self.observation_space = robot.observation_space
+
+	def _seed(self, seed=None):
+		self.np_random, seed = gym.utils.seeding.np_random(seed)
+		self.robot.np_random = self.np_random # use the same np_randomizer for robot as for env
+		return [seed]
+
+	def _reset(self):
+		if self.scene is None:
+			self.scene = self.create_single_player_scene()
+		if not self.scene.multiplayer:
+			self.scene.episode_restart()
+
+		self.robot.scene = self.scene
+
+		self.frame = 0
+		self.done = 0
+		self.reward = 0
+		dump = 0
+		s = self.robot.reset()
+		self.potential = self.robot.calc_potential()
+		return s
+
+	def _render(self, mode, close):
+		pass
+
+	def HUD(self, state, a, done):
+		pass
+
+class Camera:
+	def __init__(self):
+		pass
+
+	def move_and_look_at(self,i,j,k,x,y,z):
+		lookat = [x,y,z]
+		distance = 10
+		yaw = 10
+		p.resetDebugVisualizerCamera(distance, yaw, -20, lookat)