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/laikago.py

@@ -17,16 +17,16 @@ quadruped = p.loadURDF("laikago/laikago.urdf",[0,0,.5],[0,0.5,0.5,0], flags = ur
 #enable collision between lower legs
 
 for j in range (p.getNumJoints(quadruped)):
-		print(p.getJointInfo(quadruped,j))
+    print(p.getJointInfo(quadruped,j))
 
 #2,5,8 and 11 are the lower legs
 lower_legs = [2,5,8,11]
 for l0 in lower_legs:
-	for l1 in lower_legs:
+  for l1 in lower_legs:
-		if (l1>l0):
+    if (l1>l0):
-			enableCollision = 1
+      enableCollision = 1
-			print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
+      print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
-			p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)
+      p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)
 
 jointIds=[]
 paramIds=[]
@@ -35,9 +35,9 @@ jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
 jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]
 
 for i in range (4):
-	jointOffsets.append(0)
+  jointOffsets.append(0)
-	jointOffsets.append(-0.7)
+  jointOffsets.append(-0.7)
-	jointOffsets.append(0.7)
+  jointOffsets.append(0.7)
 
 maxForceId = p.addUserDebugParameter("maxForce",0,100,20)
 
@@ -57,28 +57,28 @@ p.setRealTimeSimulation(0)
 joints=[]
 
 with open(pd.getDataPath()+"/laikago/data1.txt","r") as filestream:
-        for line in filestream:
+  for line in filestream:
-		print("line=",line)
+    print("line=",line)
-		maxForce = p.readUserDebugParameter(maxForceId)
+    maxForce = p.readUserDebugParameter(maxForceId)
-                currentline = line.split(",")
+    currentline = line.split(",")
-                #print (currentline)
+    #print (currentline)
-                #print("-----")
+    #print("-----")
-                frame = currentline[0]
+    frame = currentline[0]
-                t = currentline[1]
+    t = currentline[1]
-                #print("frame[",frame,"]")
+    #print("frame[",frame,"]")
-                joints=currentline[2:14]
+    joints=currentline[2:14]
-                #print("joints=",joints)
+    #print("joints=",joints)
-		for j in range (12):
+    for j in range (12):
-			targetPos = float(joints[j])
+      targetPos = float(joints[j])
-			p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
+      p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
- 		p.stepSimulation()
+    p.stepSimulation()
-		for lower_leg in lower_legs:
+    for lower_leg in lower_legs:
-			#print("points for ", quadruped, " link: ", lower_leg)
+      #print("points for ", quadruped, " link: ", lower_leg)
-			pts = p.getContactPoints(quadruped,-1, lower_leg)
+      pts = p.getContactPoints(quadruped,-1, lower_leg)
-			#print("num points=",len(pts))
+      #print("num points=",len(pts))
-			#for pt in pts:
+      #for pt in pts:
-			#	print(pt[9])
+      # print(pt[9])
-		time.sleep(1./500.)
+    time.sleep(1./500.)
 
 
 for j in range (p.getNumJoints(quadruped)):
@@ -96,9 +96,9 @@ p.setRealTimeSimulation(1)
 
 while (1):
 
-	for i in range(len(paramIds)):
+  for i in range(len(paramIds)):
-		c = paramIds[i]
+    c = paramIds[i]
-		targetPos = p.readUserDebugParameter(c)
+    targetPos = p.readUserDebugParameter(c)
-		maxForce = p.readUserDebugParameter(maxForceId)
+    maxForce = p.readUserDebugParameter(maxForceId)
-		p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)
+    p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)
 

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