Merge pull request #1547 from wenkesj/master

pybullet support for gym BREAKING CHANGES, including v0.9.x

examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py

@@ -99,3 +99,8 @@ class CartPoleBulletEnv(gym.Env):
 
   def _render(self, mode='human', close=False):
       return
+
+  render = _render
+  reset = _reset
+  seed = _seed
+  step = _step

examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py

@@ -254,3 +254,7 @@ class KukaCamGymEnv(gym.Env):
     #print(reward)
     return reward
 
+  render = _render
+  reset = _reset
+  seed = _seed
+  step = _step

examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py

@@ -276,10 +276,7 @@ class KukaGymEnv(gym.Env):
     #print(reward)
     return reward
 
-    def reset(self):
-        """Resets the state of the environment and returns an initial observation.
-
-        Returns: observation (object): the initial observation of the
-            space.
-        """
-        return self._reset()
+  render = _render
+  reset = _reset
+  seed = _seed
+  step = _step

examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py

@@ -385,3 +385,8 @@ class MinitaurBulletDuckEnv(gym.Env):
           scale=self._observation_noise_stdev, size=observation.shape) *
                       self.minitaur.GetObservationUpperBound())
     return observation
+
+  render = _render
+  reset = _reset
+  seed = _seed
+  step = _step

examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py

@@ -376,3 +376,8 @@ class MinitaurBulletEnv(gym.Env):
           scale=self._observation_noise_stdev, size=observation.shape) *
                       self.minitaur.GetObservationUpperBound())
     return observation
+
+  render = _render
+  reset = _reset
+  seed = _seed
+  step = _step

examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py

@@ -174,3 +174,8 @@ class RacecarGymEnv(gym.Env):
       reward = -closestPoints[0][8]
       #print(reward)
     return reward
+
+  render = _render
+  reset = _reset
+  seed = _seed
+  step = _step

examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py

@@ -189,3 +189,8 @@ class RacecarZEDGymEnv(gym.Env):
       reward = -closestPoints[0][8]
       #print(reward)
     return reward
+
+  render = _render
+  reset = _reset
+  seed = _seed
+  step = _step

examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoidGymEnv.py

@@ -109,3 +109,8 @@ class SimpleHumanoidGymEnv(gym.Env):
     reward=self._humanoid.distance
     print(reward)
     return reward
+
+  render = _render
+  reset = _reset
+  seed = _seed
+  step = _step

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -100,6 +100,7 @@ class MJCFBaseBulletEnv(gym.Env):
 		rgb_array = rgb_array[:, :, :3]
 		return rgb_array
 
+
 	def _close(self):
 		if (self.ownsPhysicsClient):
 			if (self.physicsClientId>=0):
@@ -109,6 +110,17 @@ 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):
+		return self._step(*args, **kwargs)
+
+	close = _close
+	render = _render
+	reset = _reset
+	seed = _seed
+
+
 class Camera:
 	def __init__(self):
 		pass