from gym.envs.registration import registry, register, make, spec

# ------------bullet-------------

register(
    id='CartPoleBulletEnv-v0',
    entry_point='pybullet_envs.bullet:CartPoleBulletEnv',
    timestep_limit=1000,
    reward_threshold=950.0,
)

register(
    id='MinitaurBulletEnv-v0',
    entry_point='pybullet_envs.bullet:MinitaurBulletEnv',
    timestep_limit=1000,
    reward_threshold=5.0,
)

register(
    id='RacecarBulletEnv-v0',
    entry_point='pybullet_envs.bullet:RacecarGymEnv',
    timestep_limit=1000,
    reward_threshold=5.0,
)

register(
    id='RacecarZedBulletEnv-v0',
    entry_point='pybullet_envs.bullet:RacecarZEDGymEnv',
    timestep_limit=1000,
    reward_threshold=5.0,
)

register(
    id='SimpleHumanoidBulletEnv-v0',
    entry_point='pybullet_envs.bullet:SimpleHumanoidGymEnv',
    timestep_limit=1000,
    reward_threshold=5.0,
)

register(
    id='KukaBulletEnv-v0',
    entry_point='pybullet_envs.bullet:KukaGymEnv',
    timestep_limit=1000,
    reward_threshold=5.0,
)

register(
    id='KukaCamBulletEnv-v0',
    entry_point='pybullet_envs.bullet:KukaCamGymEnv',
    timestep_limit=1000,
    reward_threshold=5.0,
)

register(
	id='InvertedPendulumBulletEnv-v0',
	entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumBulletEnv',
	max_episode_steps=1000,
	reward_threshold=950.0,
	)

register(
	id='InvertedDoublePendulumBulletEnv-v0',
	entry_point='pybullet_envs.gym_pendulum_envs:InvertedDoublePendulumBulletEnv',
	max_episode_steps=1000,
	reward_threshold=9100.0,
	)

register(
	id='InvertedPendulumSwingupBulletEnv-v0',
	entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumSwingupBulletEnv',
	max_episode_steps=1000,
	reward_threshold=800.0,
	)

# register(
# 	id='ReacherBulletEnv-v0',
# 	entry_point='pybullet_envs.gym_manipulator_envs:ReacherBulletEnv',
# 	max_episode_steps=150,
# 	reward_threshold=18.0,
# 	)
#
# register(
# 	id='PusherBulletEnv-v0',
# 	entry_point='pybullet_envs.gym_manipulator_envs:PusherBulletEnv',
# 	max_episode_steps=150,
# 	reward_threshold=18.0,
# )
#
# register(
# 	id='ThrowerBulletEnv-v0',
# 	entry_point='pybullet_envs.gym_manipulator_envs:ThrowerBulletEnv',
# 	max_episode_steps=100,
# 	reward_threshold=18.0,
# )
#
# register(
# 	id='StrikerBulletEnv-v0',
# 	entry_point='pybullet_envs.gym_manipulator_envs:StrikerBulletEnv',
# 	max_episode_steps=100,
# 	reward_threshold=18.0,
# )

register(
	id='Walker2DBulletEnv-v0',
	entry_point='pybullet_envs.gym_locomotion_envs:Walker2DBulletEnv',
	max_episode_steps=1000,
	reward_threshold=2500.0
	)
register(
	id='HalfCheetahBulletEnv-v0',
	entry_point='pybullet_envs.gym_locomotion_envs:HalfCheetahBulletEnv',
	max_episode_steps=1000,
	reward_threshold=3000.0
	)

register(
	id='AntBulletEnv-v0',
	entry_point='pybullet_envs.gym_locomotion_envs:AntBulletEnv',
	max_episode_steps=1000,
	reward_threshold=2500.0
	)

register(
	id='HumanoidBulletEnv-v0',
	entry_point='pybullet_envs.gym_locomotion_envs:HumanoidBulletEnv',
	max_episode_steps=1000
	)

register(
	id='HopperBulletEnv-v0',
	entry_point='pybullet_envs.gym_locomotion_envs:HopperBulletEnv',
	max_episode_steps=1000,
	reward_threshold=2500.0
	)