Fix gym deprecation warnings

examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py

@@ -53,7 +53,7 @@ class KukaCamGymEnv(gym.Env):
     else:
       p.connect(p.DIRECT)
     #timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
-    self._seed()
+    self.seed()
     self.reset()
     observationDim = len(self.getExtendedObservation())
     #print("observationDim")
@@ -66,11 +66,11 @@ class KukaCamGymEnv(gym.Env):
       action_dim = 3
       self._action_bound = 1
       action_high = np.array([self._action_bound] * action_dim)
-      self.action_space = spaces.Box(-action_high, action_high)
-    self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4))
+      self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
+    self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4), dtype=np.uint8)
     self.viewer = None
 
-  def _reset(self):
+  def reset(self):
     self.terminated = 0
     p.resetSimulation()
     p.setPhysicsEngineParameter(numSolverIterations=150)
@@ -95,7 +95,7 @@ class KukaCamGymEnv(gym.Env):
   def __del__(self):
     p.disconnect()
 
-  def _seed(self, seed=None):
+  def seed(self, seed=None):
     self.np_random, seed = seeding.np_random(seed)
     return [seed]
 
@@ -127,7 +127,7 @@ class KukaCamGymEnv(gym.Env):
      self._observation = np_img_arr
      return self._observation
 
-  def _step(self, action):
+  def step(self, action):
     if (self._isDiscrete):
       dv = 0.01
       dx = [0,-dv,dv,0,0,0,0][action]
@@ -167,7 +167,7 @@ class KukaCamGymEnv(gym.Env):
 
     return np.array(self._observation), reward, done, {}
 
-  def _render(self, mode='human', close=False):
+  def render(self, mode='human', close=False):
     if mode != "rgb_array":
       return np.array([])
     base_pos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
@@ -256,8 +256,8 @@ class KukaCamGymEnv(gym.Env):
     #print(reward)
     return reward
 
-  if parse_version(gym.__version__)>=parse_version('0.9.6'):  
-    render = _render
-    reset = _reset
-    seed = _seed
-    step = _step
+  if parse_version(gym.__version__) < parse_version('0.9.6'):
+    _render = render
+    _reset = reset
+    _seed = seed
+    _step = step