fix some gym envs

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -69,7 +69,7 @@ class MJCFBaseBulletEnv(gym.Env):
 		self.potential = self.robot.calc_potential()
 		return s
 
-	def render(self, mode='human'):
+	def render(self, mode='human', close=False):
 		if mode == "human":
 			self.isRender = True
 		if mode != "rgb_array":
@@ -125,7 +125,6 @@ class MJCFBaseBulletEnv(gym.Env):
 		_render = render
 		_reset = reset
 		_seed = seed
-		_step = step
 
 class Camera:
 	def __init__(self):

examples/pybullet/gym/pybullet_envs/examples/testBike.py

@@ -24,7 +24,7 @@ for i in range (1):
 	p.setJointMotorControl2(bike,1,p.VELOCITY_CONTROL,targetVelocity=5, force=0)
 	p.setJointMotorControl2(bike,2,p.VELOCITY_CONTROL,targetVelocity=15, force=20)
 
-	p.changeDynamics(plane,-1, mass=20,lateralFriction=1, linearDamping=0, angularDamping=0)
+	p.changeDynamics(plane,-1, mass=0,lateralFriction=1, linearDamping=0, angularDamping=0)
 	p.changeDynamics(bike,1,lateralFriction=1,linearDamping=0, angularDamping=0)
 	p.changeDynamics(bike,2,lateralFriction=1,linearDamping=0, angularDamping=0)
 	#p.resetJointState(bike,1,0,100)

examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env_example.py

@@ -4,10 +4,11 @@
 
 import csv
 import math
-
+import os
-import os,  inspect
+import inspect
 currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
-parentdir = os.path.dirname(os.path.dirname(currentdir))
+parentdir = os.path.dirname(os.path.dirname(os.path.dirname(currentdir)))
+print("parentdir=",parentdir)
 os.sys.path.insert(0,parentdir)
 
 import argparse

examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller_example.py

@@ -5,6 +5,13 @@ from __future__ import absolute_import
 from __future__ import division
 from __future__ import print_function
 
+import os
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(os.path.dirname(currentdir)))
+os.sys.path.insert(0,parentdir)
+
+
 import tensorflow as tf
 from pybullet_envs.minitaur.envs import minitaur_raibert_controller
 from pybullet_envs.minitaur.envs import minitaur_gym_env

examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env_example.py

@@ -6,11 +6,21 @@ from __future__ import print_function
 
 import os
 import time
+
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(os.path.dirname(currentdir)))
+print("parentdir=",parentdir)
+os.sys.path.insert(0,parentdir)
+
+
+
 import tensorflow as tf
 from pybullet_envs.minitaur.agents.scripts import utility
 import pybullet_data
 from pybullet_envs.minitaur.envs import simple_ppo_agent
 
+
 flags = tf.app.flags
 FLAGS = tf.app.flags.FLAGS
 LOG_DIR = os.path.join(pybullet_data.getDataPath(), "policies/ppo/minitaur_reactive_env")

examples/pybullet/gym/pybullet_envs/robot_bases.py

@@ -22,9 +22,9 @@ class XmlBasedRobot:
 		self.robot_body = None
 
 		high = np.ones([action_dim])
-		self.action_space = gym.spaces.Box(-high, high, dtype=np.float32)
+		self.action_space = gym.spaces.Box(-high, high)
 		high = np.inf * np.ones([obs_dim])
-		self.observation_space = gym.spaces.Box(-high, high, dtype=np.float32)
+		self.observation_space = gym.spaces.Box(-high, high)
 
 		#self.model_xml = model_xml
 		self.robot_name = robot_name