mirror of
https://github.com/bulletphysics/bullet3
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851ca5bfb3
Use python -m pybullet_envs.examples.testEnv --env AntBulletEnv-v0 --render=1 --steps 1000 --resetbenchmark=1 Added environments: HumanoidFlagrunBulletEnv-v0, HumanoidFlagrunHarderBulletEnv-v0, StrikerBulletEnv-v0, ThrowerBulletEnv-v0, PusherBulletEnv-v0, ReacherBulletEnv-v0, CartPoleBulletEnv-v0 and register them to OpenAI Gym. Allow numpy/humanoid_running.py to use abtch or non-batch update (setJointMotorControl2/setJointMotorControlArray)
166 lines
3.7 KiB
Python
166 lines
3.7 KiB
Python
from gym.envs.registration import registry, register, make, spec
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# ------------bullet-------------
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register(
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id='CartPoleBulletEnv-v0',
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entry_point='pybullet_envs.bullet:CartPoleBulletEnv',
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timestep_limit=1000,
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reward_threshold=950.0,
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)
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register(
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id='MinitaurBulletEnv-v0',
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entry_point='pybullet_envs.bullet:MinitaurBulletEnv',
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timestep_limit=1000,
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reward_threshold=5.0,
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)
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register(
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id='MinitaurBulletDuckEnv-v0',
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entry_point='pybullet_envs.bullet:MinitaurBulletDuckEnv',
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timestep_limit=1000,
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reward_threshold=5.0,
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)
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register(
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id='RacecarBulletEnv-v0',
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entry_point='pybullet_envs.bullet:RacecarGymEnv',
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timestep_limit=1000,
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reward_threshold=5.0,
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)
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register(
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id='RacecarZedBulletEnv-v0',
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entry_point='pybullet_envs.bullet:RacecarZEDGymEnv',
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timestep_limit=1000,
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reward_threshold=5.0,
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)
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register(
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id='SimpleHumanoidBulletEnv-v0',
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entry_point='pybullet_envs.bullet:SimpleHumanoidGymEnv',
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timestep_limit=1000,
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reward_threshold=5.0,
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)
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register(
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id='KukaBulletEnv-v0',
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entry_point='pybullet_envs.bullet:KukaGymEnv',
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timestep_limit=1000,
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reward_threshold=5.0,
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)
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register(
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id='KukaCamBulletEnv-v0',
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entry_point='pybullet_envs.bullet:KukaCamGymEnv',
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timestep_limit=1000,
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reward_threshold=5.0,
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)
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register(
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id='InvertedPendulumBulletEnv-v0',
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entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumBulletEnv',
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max_episode_steps=1000,
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reward_threshold=950.0,
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)
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register(
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id='InvertedDoublePendulumBulletEnv-v0',
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entry_point='pybullet_envs.gym_pendulum_envs:InvertedDoublePendulumBulletEnv',
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max_episode_steps=1000,
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reward_threshold=9100.0,
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)
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register(
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id='InvertedPendulumSwingupBulletEnv-v0',
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entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumSwingupBulletEnv',
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max_episode_steps=1000,
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reward_threshold=800.0,
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)
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register(
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id='ReacherBulletEnv-v0',
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entry_point='pybullet_envs.gym_manipulator_envs:ReacherBulletEnv',
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max_episode_steps=150,
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reward_threshold=18.0,
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)
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register(
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id='PusherBulletEnv-v0',
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entry_point='pybullet_envs.gym_manipulator_envs:PusherBulletEnv',
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max_episode_steps=150,
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reward_threshold=18.0,
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)
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register(
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id='ThrowerBulletEnv-v0',
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entry_point='pybullet_envs.gym_manipulator_envs:ThrowerBulletEnv',
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max_episode_steps=100,
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reward_threshold=18.0,
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)
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register(
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id='StrikerBulletEnv-v0',
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entry_point='pybullet_envs.gym_manipulator_envs:StrikerBulletEnv',
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max_episode_steps=100,
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reward_threshold=18.0,
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)
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register(
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id='Walker2DBulletEnv-v0',
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entry_point='pybullet_envs.gym_locomotion_envs:Walker2DBulletEnv',
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max_episode_steps=1000,
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reward_threshold=2500.0
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)
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register(
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id='HalfCheetahBulletEnv-v0',
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entry_point='pybullet_envs.gym_locomotion_envs:HalfCheetahBulletEnv',
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max_episode_steps=1000,
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reward_threshold=3000.0
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)
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register(
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id='AntBulletEnv-v0',
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entry_point='pybullet_envs.gym_locomotion_envs:AntBulletEnv',
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max_episode_steps=1000,
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reward_threshold=2500.0
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)
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register(
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id='HopperBulletEnv-v0',
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entry_point='pybullet_envs.gym_locomotion_envs:HopperBulletEnv',
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max_episode_steps=1000,
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reward_threshold=2500.0
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)
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register(
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id='HumanoidBulletEnv-v0',
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entry_point='pybullet_envs.gym_locomotion_envs:HumanoidBulletEnv',
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max_episode_steps=1000
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)
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register(
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id='HumanoidFlagrunBulletEnv-v0',
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entry_point='pybullet_envs.gym_locomotion_envs:HumanoidFlagrunBulletEnv',
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max_episode_steps=1000,
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reward_threshold=2000.0
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)
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register(
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id='HumanoidFlagrunHarderBulletEnv-v0',
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entry_point='pybullet_envs.gym_locomotion_envs:HumanoidFlagrunHarderBulletEnv',
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max_episode_steps=1000
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)
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#register(
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# id='AtlasBulletEnv-v0',
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# entry_point='pybullet_envs.gym_locomotion_envs:AtlasBulletEnv',
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# max_episode_steps=1000
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# )
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def getList():
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btenvs = ['- ' + spec.id for spec in gym.envs.registry.all() if spec.id.find('Bullet')>=0]
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return btenvs
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