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

12
examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py
View File

@@ -15,17 +15,17 @@ class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.8, timestep=0.0165, frame_skip=1)
def _reset(self):
def reset(self):
if (self.stateId>=0):
#print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self)
r = MJCFBaseBulletEnv.reset(self)
if (self.stateId<0):
self.stateId = self._p.saveState()
#print("InvertedPendulumBulletEnv reset self.stateId=",self.stateId)
return r
def _step(self, a):
def step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.pos_x self.pos_y
@@ -57,15 +57,15 @@ class InvertedDoublePendulumBulletEnv(MJCFBaseBulletEnv):
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.8, timestep=0.0165, frame_skip=1)
def _reset(self):
def reset(self):
if (self.stateId>=0):
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self)
r = MJCFBaseBulletEnv.reset(self)
if (self.stateId<0):
self.stateId = self._p.saveState()
return r
def _step(self, a):
def step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.pos_x self.pos_y