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Fix gym deprecation warnings

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This commit is contained in:
Antonin RAFFIN
2018-12-28 14:30:05 +01:00
parent 8bc1c8e01b
commit 0df3527884
24 changed files with 229 additions and 244 deletions
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22
examples/pybullet/gym/pybullet_envs/deep_mimic/humanoid_deepmimic_gym_env.py
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@@ -56,21 +56,21 @@ class HumanoidDeepMimicGymEnv(gym.Env):
self._pybullet_client = None
self._humanoid = None
self._control_time_step = 8.*(1./240.)#0.033333
self._seed()
self.seed()
observation_high = (self._get_observation_upper_bound())
observation_low = (self._get_observation_lower_bound())
action_dim = 36
self._action_bound = 3.14 #todo: check this
action_high = np.array([self._action_bound] * action_dim)
self.action_space = spaces.Box(-action_high, action_high)
self.observation_space = spaces.Box(observation_low, observation_high)
self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
self.observation_space = spaces.Box(observation_low, observation_high, dtype=np.float32)
def _close(self):
def close(self):
self._humanoid = None
self._pybullet_client.disconnect()
def _reset(self):
def reset(self):
if (self._pybullet_client==None):
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(
@@ -93,7 +93,7 @@ class HumanoidDeepMimicGymEnv(gym.Env):
#self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION,self._ground_id)
shift=[0,0,0]
self._humanoid = Humanoid(self._pybullet_client,self._motion,shift)
self._humanoid.Reset()
simTime = random.randint(0,self._motion.NumFrames()-2)
self._humanoid.SetSimTime(simTime)
@@ -108,11 +108,11 @@ class HumanoidDeepMimicGymEnv(gym.Env):
self._pybullet_client.COV_ENABLE_RENDERING, 1)
return self._get_observation()
def _seed(self, seed=None):
def seed(self, seed=None):
self.np_random, seed = seeding.np_random(seed)
return [seed]
def _step(self, action):
def step(self, action):
"""Step forward the simulation, given the action.
Args:
@@ -155,7 +155,7 @@ class HumanoidDeepMimicGymEnv(gym.Env):
self._env_step_counter += 1
return np.array(self._get_observation()), reward, done, {}
def _render(self, mode="rgb_array", close=False):
def render(self, mode="rgb_array", close=False):
if mode == "human":
self._is_render = True
if mode != "rgb_array":
@@ -273,5 +273,3 @@ class HumanoidDeepMimicGymEnv(gym.Env):
@property
def env_step_counter(self):
return self._env_step_counter