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added pyBullet #7

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1 change: 1 addition & 0 deletions apps/OpenAI_gym/exec.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
os.environ['MUJOCO_PY_FORCE_CPU'] = '1'
import smarties as rl
from HumanoidWrapper import HumanoidWrapper
import pyBulletEnvironments

def getAction(comm, env):
buf = comm.recvAction()
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238 changes: 238 additions & 0 deletions apps/OpenAI_gym/pyBulletEnvironments/__init__.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,238 @@
import gym
from gym.envs.registration import registry, make, spec


def register(id, *args, **kvargs):
if id in registry.env_specs:
return
else:
return gym.envs.registration.register(id, *args, **kvargs)


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

register(
id='HumanoidDeepMimicBackflipBulletEnv-v1',
entry_point='pybullet_envs.deep_mimic.gym_env:HumanoidDeepMimicBackflipBulletEnv',
max_episode_steps=2000,
reward_threshold=2000.0,
)

register(
id='HumanoidDeepMimicWalkBulletEnv-v1',
entry_point='pybullet_envs.deep_mimic.gym_env:HumanoidDeepMimicWalkBulletEnv',
max_episode_steps=2000,
reward_threshold=2000.0,
)

register(
id='CartPoleBulletEnv-v1',
entry_point='pybullet_envs.bullet:CartPoleBulletEnv',
max_episode_steps=200,
reward_threshold=190.0,
)

register(
id='CartPoleContinuousBulletEnv-v0',
entry_point='pybullet_envs.bullet:CartPoleContinuousBulletEnv',
max_episode_steps=200,
reward_threshold=190.0,
)


register(
id='MinitaurBulletEnv-v0',
entry_point='pybullet_envs.bullet:MinitaurBulletEnv',
max_episode_steps=1000,
reward_threshold=15.0,
)

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

register(
id='MinitaurExtendedEnv-v0',
entry_point='pybullet_envs.minitaur.envs:MinitaurExtendedEnv',
max_episode_steps=1000,
reward_threshold=5.0,
)


register(
id='MinitaurReactiveEnv-v0',
entry_point='pybullet_envs.minitaur.envs:MinitaurReactiveEnv',
max_episode_steps=1000,
reward_threshold=5.0,
)

register(
id='MinitaurBallGymEnv-v0',
entry_point='pybullet_envs.minitaur.envs:MinitaurBallGymEnv',
max_episode_steps=1000,
reward_threshold=5.0,
)

register(
id='MinitaurTrottingEnv-v0',
entry_point='pybullet_envs.minitaur.envs:MinitaurTrottingEnv',
max_episode_steps=1000,
reward_threshold=5.0,
)

register(
id='MinitaurStandGymEnv-v0',
entry_point='pybullet_envs.minitaur.envs:MinitaurStandGymEnv',
max_episode_steps=1000,
reward_threshold=5.0,
)

register(
id='MinitaurAlternatingLegsEnv-v0',
entry_point='pybullet_envs.minitaur.envs:MinitaurAlternatingLegsEnv',
max_episode_steps=1000,
reward_threshold=5.0,
)

register(
id='MinitaurFourLegStandEnv-v0',
entry_point='pybullet_envs.minitaur.envs:MinitaurFourLegStandEnv',
max_episode_steps=1000,
reward_threshold=5.0,
)

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

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

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

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

register(
id='KukaDiverseObjectGrasping-v0',
entry_point='pybullet_envs.bullet:KukaDiverseObjectEnv',
max_episode_steps=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='HopperBulletEnv-v0',
entry_point='pybullet_envs.gym_locomotion_envs:HopperBulletEnv',
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='HumanoidFlagrunBulletEnv-v0',
entry_point='pybullet_envs.gym_locomotion_envs:HumanoidFlagrunBulletEnv',
max_episode_steps=1000,
reward_threshold=2000.0)

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

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


def getList():
btenvs = ['- ' + spec.id for spec in gym.envs.registry.all() if spec.id.find('Bullet') >= 0]
btenvs.extend([
'- MinitaurExtendedEnv-v0', '- MinitaurReactiveEnv-v0',
'- MinitaurBallGymEnv-v0', '- MinitaurTrottingEnv-v0',
'- MinitaurStandGymEnv-v0', '- MinitaurAlternatingLegsEnv-v0',
'- MinitaurFourLegStandEnv-v0', '- KukaDiverseObjectGrasping-v0'
])
return btenvs
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