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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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16
examples/pybullet/gym/pybullet_envs/robot_bases.py
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@@ -1,4 +1,4 @@
import pybullet
import pybullet
import gym, gym.spaces, gym.utils
import numpy as np
import os, inspect
@@ -22,9 +22,9 @@ class XmlBasedRobot:
self.robot_body = None
high = np.ones([action_dim])
self.action_space = gym.spaces.Box(-high, high)
self.action_space = gym.spaces.Box(-high, high, dtype=np.float32)
high = np.inf * np.ones([obs_dim])
self.observation_space = gym.spaces.Box(-high, high)
self.observation_space = gym.spaces.Box(-high, high, dtype=np.float32)
#self.model_xml = model_xml
self.robot_name = robot_name
@@ -109,8 +109,8 @@ class MJCFBasedRobot(XmlBasedRobot):
self.model_xml = model_xml
self.doneLoading=0
def reset(self, bullet_client):
self._p = bullet_client
self._p = bullet_client
#print("Created bullet_client with id=", self._p._client)
if (self.doneLoading==0):
self.ordered_joints = []
@@ -151,7 +151,7 @@ class URDFBasedRobot(XmlBasedRobot):
print(os.path.join(os.path.dirname(__file__), "data", self.model_urdf))
if self.self_collision:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self._p,
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self._p,
self._p.loadURDF(os.path.join(pybullet_data.getDataPath(), self.model_urdf),
basePosition=self.basePosition,
baseOrientation=self.baseOrientation,
@@ -280,11 +280,11 @@ class Joint:
self.bodyIndex = bodyIndex
self.jointIndex = jointIndex
self.joint_name = joint_name
jointInfo = self._p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
self.lowerLimit = jointInfo[8]
self.upperLimit = jointInfo[9]
self.power_coeff = 0
def set_state(self, x, vx):