push

Author: adynsydeez

envs/__pycache__/simple_biped_env.cpython-312.pyc

@@ -106,7 +106,7 @@ def _check_termination(self):
         return base_pos[2] < 0.2  or base_pos[2] > 1.5  # fallen
 
     def render(self):
-        if self.render_mode == "human":
+        if self.render_mode:
             if hasattr(self, 'robot_id'):
                 base_pos = p.getBasePositionAndOrientation(self.robot_id)[0]
                 p.resetDebugVisualizerCamera(
@@ -115,6 +115,8 @@ def render(self):
                     cameraPitch=-30,
                     cameraTargetPosition=base_pos
                 )
+        else:
+            pass
 
     def close(self):
         p.disconnect()

envs/simple_biped_env.py

@@ -25,7 +25,7 @@ def train_PPO():
 
 def train_DDPG():
     LOG_DIR = "./logs/"
-    env = gym.make('simpleBiped-v0', render=True)
+    env = gym.make('simpleBiped-v0', render_mode=True)
     model = DDPG("MlpPolicy", env, verbose=1, device="auto", tensorboard_log=LOG_DIR)
     model.learn(total_timesteps=10000000)
     model.save("../models/humanoid_ddpg")