Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Fix gym deprecation warnings

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

25
examples/pybullet/gym/pybullet_envs/gym_manipulator_envs.py
View File

@@ -5,14 +5,14 @@ from robot_manipulators import Reacher, Pusher, Striker, Thrower
class ReacherBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
def __init__(self, render=False):
self.robot = Reacher()
MJCFBaseBulletEnv.__init__(self, self.robot)
MJCFBaseBulletEnv.__init__(self, self.robot, render)
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=0.0, timestep=0.0165, frame_skip=1)
def _step(self, a):
def step(self, a):
assert (not self.scene.multiplayer)
self.robot.apply_action(a)
self.scene.global_step()
@@ -39,14 +39,14 @@ class ReacherBulletEnv(MJCFBaseBulletEnv):
class PusherBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
def __init__(self, render=False):
self.robot = Pusher()
MJCFBaseBulletEnv.__init__(self, self.robot)
MJCFBaseBulletEnv.__init__(self, self.robot, render)
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.81, timestep=0.0020, frame_skip=5)
def _step(self, a):
def step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
@@ -93,9 +93,9 @@ class PusherBulletEnv(MJCFBaseBulletEnv):
class StrikerBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
def __init__(self, render=False):
self.robot = Striker()
MJCFBaseBulletEnv.__init__(self, self.robot)
MJCFBaseBulletEnv.__init__(self, self.robot, render)
self._striked = False
self._min_strike_dist = np.inf
self.strike_threshold = 0.1
@@ -103,7 +103,7 @@ class StrikerBulletEnv(MJCFBaseBulletEnv):
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.81, timestep=0.0020, frame_skip=5)
def _step(self, a):
def step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
@@ -169,14 +169,14 @@ class StrikerBulletEnv(MJCFBaseBulletEnv):
class ThrowerBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
def __init__(self, render=False):
self.robot = Thrower()
MJCFBaseBulletEnv.__init__(self, self.robot)
MJCFBaseBulletEnv.__init__(self, self.robot, render)
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=0.0, timestep=0.0020, frame_skip=5)
def _step(self, a):
def step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.to_target_vec
@@ -231,4 +231,3 @@ class ThrowerBulletEnv(MJCFBaseBulletEnv):
x *= 0.5
y *= 0.5
self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)