From 71051401b58df5f3e23d9f782b9475b608e4deb0 Mon Sep 17 00:00:00 2001 From: KelvinYang0320 Date: Sat, 30 Sep 2023 22:15:52 +0800 Subject: [PATCH 1/2] Updated step and reset for gymnasium --- .../controllers/deepbots_supervisor_env.py | 12 +++++++++--- .../controllers/emitter_receiver_supervisor_env.py | 3 ++- .../supervisor/controllers/robot_supervisor_env.py | 3 ++- 3 files changed, 13 insertions(+), 5 deletions(-) diff --git a/deepbots/supervisor/controllers/deepbots_supervisor_env.py b/deepbots/supervisor/controllers/deepbots_supervisor_env.py index d2da665..fc7f238 100644 --- a/deepbots/supervisor/controllers/deepbots_supervisor_env.py +++ b/deepbots/supervisor/controllers/deepbots_supervisor_env.py @@ -1,4 +1,4 @@ -import gym +import gymnasium as gym from controller import Supervisor @@ -43,7 +43,7 @@ def step(self, action): """ raise NotImplementedError - def reset(self): + def reset(self, **kwargs): """ Used to reset the world to an initial state. @@ -62,7 +62,7 @@ def reset(self): self.simulationReset() self.simulationResetPhysics() super(Supervisor, self).step(int(self.getBasicTimeStep())) - return self.get_default_observation() + return self.get_default_observation(), {} def get_default_observation(self): """ @@ -109,6 +109,12 @@ def is_done(self): """ raise NotImplementedError + def is_terminated(self): + raise NotImplementedError + + def is_truncated(self): + raise NotImplementedError + def get_info(self): """ This method can be implemented to return any diagnostic diff --git a/deepbots/supervisor/controllers/emitter_receiver_supervisor_env.py b/deepbots/supervisor/controllers/emitter_receiver_supervisor_env.py index 2ad040b..88c4d95 100644 --- a/deepbots/supervisor/controllers/emitter_receiver_supervisor_env.py +++ b/deepbots/supervisor/controllers/emitter_receiver_supervisor_env.py @@ -71,7 +71,8 @@ def step(self, action): return ( self.get_observations(), self.get_reward(action), - self.is_done(), + self.is_terminated(), + self.is_truncated(), self.get_info(), ) diff --git a/deepbots/supervisor/controllers/robot_supervisor_env.py b/deepbots/supervisor/controllers/robot_supervisor_env.py index 33647e1..ef6b1f3 100644 --- a/deepbots/supervisor/controllers/robot_supervisor_env.py +++ b/deepbots/supervisor/controllers/robot_supervisor_env.py @@ -83,7 +83,8 @@ def step(self, action): return ( self.get_observations(), self.get_reward(action), - self.is_done(), + self.is_terminated(), + self.is_truncated(), self.get_info(), ) From 21dad72464de2b5b72b80d0d31dd6a350124c93d Mon Sep 17 00:00:00 2001 From: KelvinYang0320 Date: Sat, 30 Sep 2023 22:35:18 +0800 Subject: [PATCH 2/2] Specified gymnasium version according to SB3 --- requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements.txt b/requirements.txt index dc587eb..0599fd4 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,2 +1,2 @@ -gym==0.21 +gymnasium>=0.28.1,<0.30 tensorboardX