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compatibility with Gym 0.26.0 #4335

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1ed8ebe
Update __init__.py
markub3327 Sep 7, 2022
2361004
Update __init__.py
markub3327 Sep 12, 2022
c46df91
update
markub3327 Sep 13, 2022
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markub3327 Sep 14, 2022
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@markub3327
markub3327 committed Sep 13, 2022
commit c46df911a79183d7b06b83f3a5a917d2de1748e9
6 changes: 3 additions & 3 deletions examples/pybullet/gym/pybullet_envs/env_bases.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,12 +22,12 @@ class MJCFBaseBulletEnv(gym.Env):

metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 60}

def __init__(self, robot, render=False):
def __init__(self, robot, render_mode=False):
self.scene = None
self.physicsClientId = -1
self.ownsPhysicsClient = 0
self.camera = Camera(self)
self.isRender = render
self.isRender = render_mode
self.robot = robot
self.seed()
self._cam_dist = 3
Expand Down Expand Up @@ -86,7 +86,7 @@ def reset(self):
dump = 0
s = self.robot.reset(self._p)
self.potential = self.robot.calc_potential()
return s
return s, {}

def camera_adjust(self):
pass
Expand Down
34 changes: 17 additions & 17 deletions examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
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Expand Up @@ -7,13 +7,13 @@

class WalkerBaseBulletEnv(MJCFBaseBulletEnv):

def __init__(self, robot, render=False):
def __init__(self, robot, render_mode=False):
# print("WalkerBase::__init__ start")
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
self.stateId = -1
MJCFBaseBulletEnv.__init__(self, robot, render)
MJCFBaseBulletEnv.__init__(self, robot, render_mode)


def create_single_player_scene(self, bullet_client):
Expand Down Expand Up @@ -123,7 +123,7 @@ def step(self, a):
self.HUD(state, a, done)
self.reward += sum(self.rewards)

return state, sum(self.rewards), bool(done), {}
return state, sum(self.rewards), bool(done), False, {}

def camera_adjust(self):
x, y, z = self.robot.body_real_xyz
Expand All @@ -134,53 +134,53 @@ def camera_adjust(self):

class HopperBulletEnv(WalkerBaseBulletEnv):

def __init__(self, render=False):
def __init__(self, render_mode=False):
self.robot = Hopper()
WalkerBaseBulletEnv.__init__(self, self.robot, render)
WalkerBaseBulletEnv.__init__(self, self.robot, render_mode)


class Walker2DBulletEnv(WalkerBaseBulletEnv):

def __init__(self, render=False):
def __init__(self, render_mode=False):
self.robot = Walker2D()
WalkerBaseBulletEnv.__init__(self, self.robot, render)
WalkerBaseBulletEnv.__init__(self, self.robot, render_mode)


class HalfCheetahBulletEnv(WalkerBaseBulletEnv):

def __init__(self, render=False):
def __init__(self, render_mode=False):
self.robot = HalfCheetah()
WalkerBaseBulletEnv.__init__(self, self.robot, render)
WalkerBaseBulletEnv.__init__(self, self.robot, render_mode)

def _isDone(self):
return False


class AntBulletEnv(WalkerBaseBulletEnv):

def __init__(self, render=False):
def __init__(self, render_mode=False):
self.robot = Ant()
WalkerBaseBulletEnv.__init__(self, self.robot, render)
WalkerBaseBulletEnv.__init__(self, self.robot, render_mode)


class HumanoidBulletEnv(WalkerBaseBulletEnv):

def __init__(self, robot=None, render=False):
def __init__(self, robot=None, render_mode=False):
if robot is None:
self.robot = Humanoid()
else:
self.robot = robot
WalkerBaseBulletEnv.__init__(self, self.robot, render)
WalkerBaseBulletEnv.__init__(self, self.robot, render_mode)
self.electricity_cost = 4.25 * WalkerBaseBulletEnv.electricity_cost
self.stall_torque_cost = 4.25 * WalkerBaseBulletEnv.stall_torque_cost


class HumanoidFlagrunBulletEnv(HumanoidBulletEnv):
random_yaw = True

def __init__(self, render=False):
def __init__(self, render_mode=False):
self.robot = HumanoidFlagrun()
HumanoidBulletEnv.__init__(self, self.robot, render)
HumanoidBulletEnv.__init__(self, self.robot, render_mode)

def create_single_player_scene(self, bullet_client):
s = HumanoidBulletEnv.create_single_player_scene(self, bullet_client)
Expand All @@ -191,10 +191,10 @@ def create_single_player_scene(self, bullet_client):
class HumanoidFlagrunHarderBulletEnv(HumanoidBulletEnv):
random_lean = True # can fall on start

def __init__(self, render=False):
def __init__(self, render_mode=False):
self.robot = HumanoidFlagrunHarder()
self.electricity_cost /= 4 # don't care that much about electricity, just stand up!
HumanoidBulletEnv.__init__(self, self.robot, render)
HumanoidBulletEnv.__init__(self, self.robot, render_mode)

def create_single_player_scene(self, bullet_client):
s = HumanoidBulletEnv.create_single_player_scene(self, bullet_client)
Expand Down
18 changes: 9 additions & 9 deletions examples/pybullet/gym/pybullet_envs/gym_manipulator_envs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,9 @@

class ReacherBulletEnv(MJCFBaseBulletEnv):

def __init__(self, render=False):
def __init__(self, render_mode=False):
self.robot = Reacher()
MJCFBaseBulletEnv.__init__(self, self.robot, render)
MJCFBaseBulletEnv.__init__(self, self.robot, render_mode)

def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=0.0, timestep=0.0165, frame_skip=1)
Expand Down Expand Up @@ -46,9 +46,9 @@ def camera_adjust(self):

class PusherBulletEnv(MJCFBaseBulletEnv):

def __init__(self, render=False):
def __init__(self, render_mode=False):
self.robot = Pusher()
MJCFBaseBulletEnv.__init__(self, self.robot, render)
MJCFBaseBulletEnv.__init__(self, self.robot, render_mode)

def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.81, timestep=0.0020, frame_skip=5)
Expand Down Expand Up @@ -105,9 +105,9 @@ def camera_adjust(self):

class StrikerBulletEnv(MJCFBaseBulletEnv):

def __init__(self, render=False):
def __init__(self, render_mode=False):
self.robot = Striker()
MJCFBaseBulletEnv.__init__(self, self.robot, render)
MJCFBaseBulletEnv.__init__(self, self.robot, render_mode)
self._striked = False
self._min_strike_dist = np.inf
self.strike_threshold = 0.1
Expand Down Expand Up @@ -186,9 +186,9 @@ def camera_adjust(self):

class ThrowerBulletEnv(MJCFBaseBulletEnv):

def __init__(self, render=False):
def __init__(self, render_mode=False):
self.robot = Thrower()
MJCFBaseBulletEnv.__init__(self, self.robot, render)
MJCFBaseBulletEnv.__init__(self, self.robot, render_mode)

def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=0.0, timestep=0.0020, frame_skip=5)
Expand Down Expand Up @@ -245,7 +245,7 @@ def step(self, a):
float(stuck_joint_cost), reward_dist, 0.002 * reward_ctrl
]
self.HUD(state, a, False)
return state, sum(self.rewards), False, {}
return state, sum(self.rewards), False, False, {}

def camera_adjust(self):
x, y, z = self.robot.fingertip.pose().xyz()
Expand Down
4 changes: 2 additions & 2 deletions examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py
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Expand Up @@ -40,7 +40,7 @@ def step(self, a):
done = np.abs(self.robot.theta) > .2
self.rewards = [float(reward)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
return state, sum(self.rewards), done, False, {}

def camera_adjust(self):
self.camera.move_and_look_at(0, 1.2, 1.0, 0, 0, 0.5)
Expand Down Expand Up @@ -86,7 +86,7 @@ def step(self, a):
done = self.robot.pos_y + 0.3 <= 1
self.rewards = [float(alive_bonus), float(-dist_penalty), float(-vel_penalty)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
return state, sum(self.rewards), done, False, {}

def camera_adjust(self):
self.camera.move_and_look_at(0, 1.2, 1.2, 0, 0, 0.5)