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/scene_stadium.py

@@ -0,0 +1,32 @@
+import os
+from .scene_abstract import Scene
+import pybullet as p
+
+class StadiumScene(Scene):
+	zero_at_running_strip_start_line = True   # if False, center of coordinates (0,0,0) will be at the middle of the stadium
+	stadium_halflen   = 105*0.25	# FOOBALL_FIELD_HALFLEN
+	stadium_halfwidth = 50*0.25	 # FOOBALL_FIELD_HALFWID
+
+	def episode_restart(self):
+		Scene.episode_restart(self)   # contains cpp_world.clean_everything()
+		# stadium_pose = cpp_household.Pose()
+		# if self.zero_at_running_strip_start_line:
+		#	 stadium_pose.set_xyz(27, 21, 0)  # see RUN_STARTLINE, RUN_RAD constants
+		filename = os.path.join(os.path.dirname(__file__), "data", "stadium.sdf")
+		print(filename)		
+		self.stadium = p.loadSDF(filename)
+		self.ground_plane_mjcf = p.loadMJCF(os.path.join(os.path.dirname(__file__), "data","mjcf/ground_plane.xml"))
+		for i in self.ground_plane_mjcf:
+			p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0])
+
+class SinglePlayerStadiumScene(StadiumScene):
+	"This scene created by environment, to work in a way as if there was no concept of scene visible to user."
+	multiplayer = False
+
+class MultiplayerStadiumScene(StadiumScene):
+	multiplayer = True
+	players_count = 3
+	def actor_introduce(self, robot):
+		StadiumScene.actor_introduce(self, robot)
+		i = robot.player_n - 1  # 0 1 2 => -1 0 +1
+		robot.move_robot(0, i, 0)