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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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59
examples/pybullet/gym/pybullet_envs/env_bases.py
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@@ -1,6 +1,6 @@
import gym, gym.spaces, gym.utils, gym.utils.seeding
import numpy as np
import pybullet
import pybullet
from pybullet_utils import bullet_client
from pkg_resources import parse_version
@@ -24,7 +24,7 @@ class MJCFBaseBulletEnv(gym.Env):
self.camera = Camera()
self.isRender = render
self.robot = robot
self._seed()
self.seed()
self._cam_dist = 3
self._cam_yaw = 0
self._cam_pitch = -30
@@ -33,23 +33,24 @@ class MJCFBaseBulletEnv(gym.Env):
self.action_space = robot.action_space
self.observation_space = robot.observation_space
def configure(self, args):
self.robot.args = args
def _seed(self, seed=None):
def seed(self, seed=None):
self.np_random, seed = gym.utils.seeding.np_random(seed)
self.robot.np_random = self.np_random # use the same np_randomizer for robot as for env
return [seed]
def _reset(self):
def reset(self):
if (self.physicsClientId<0):
self.ownsPhysicsClient = True
if self.isRender:
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
else:
self._p = bullet_client.BulletClient()
self.physicsClientId = self._p._client
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_GUI,0)
@@ -68,8 +69,8 @@ class MJCFBaseBulletEnv(gym.Env):
self.potential = self.robot.calc_potential()
return s
def _render(self, mode, close=False):
if (mode=="human"):
def render(self, mode, close=False):
if mode == "human":
self.isRender = True
if mode != "rgb_array":
return np.array([])
@@ -99,7 +100,7 @@ class MJCFBaseBulletEnv(gym.Env):
return rgb_array
def _close(self):
def close(self):
if (self.ownsPhysicsClient):
if (self.physicsClientId>=0):
self._p.disconnect()
@@ -108,27 +109,23 @@ class MJCFBaseBulletEnv(gym.Env):
def HUD(self, state, a, done):
pass
# backwards compatibility for gym >= v0.9.x
# for extension of this class.
def step(self, *args, **kwargs):
if self.isRender:
base_pos=[0,0,0]
if (hasattr(self,'robot')):
if (hasattr(self.robot,'body_xyz')):
base_pos = self.robot.body_xyz
# Keep the previous orientation of the camera set by the user.
#[yaw, pitch, dist] = self._p.getDebugVisualizerCamera()[8:11]
self._p.resetDebugVisualizerCamera(3,0,0, base_pos)
return self._step(*args, **kwargs)
if parse_version(gym.__version__)>=parse_version('0.9.6'):
close = _close
render = _render
reset = _reset
seed = _seed
# def step(self, *args, **kwargs):
# if self.isRender:
# base_pos=[0,0,0]
# if (hasattr(self,'robot')):
# if (hasattr(self.robot,'body_xyz')):
# base_pos = self.robot.body_xyz
# # Keep the previous orientation of the camera set by the user.
# #[yaw, pitch, dist] = self._p.getDebugVisualizerCamera()[8:11]
# self._p.resetDebugVisualizerCamera(3,0,0, base_pos)
#
#
# return self.step(*args, **kwargs)
if parse_version(gym.__version__) < parse_version('0.9.6'):
_render = render
_reset = reset
_seed = seed
_step = step
class Camera:
def __init__(self):