bullet3/examples/pybullet/gym/pybullet_envs/__init__.py
2018-01-27 10:25:26 -08:00

173 lines
3.8 KiB
Python

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='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='MinitaurBulletDuckEnv-v0',
entry_point='pybullet_envs.bullet:MinitaurBulletDuckEnv',
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='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='KukaDiverseObjectGrasping-v0',
entry_point='pybullet_envs.bullet:KukaDiverseObjectEnv',
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='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]
return btenvs