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Fix: Deprecated beerpong env still referenced old mujoco binding

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This commit is contained in:
Dominik Moritz Roth 2023-09-18 18:37:19 +02:00
parent 4c8dda3b60
commit 513bf2361e
1 changed files with 7 additions and 11 deletions
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18
fancy_gym/envs/mujoco/beerpong/deprecated/beerpong.py
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@ -1,6 +1,5 @@
import os
import mujoco_py.builder
import numpy as np
from gymnasium import utils
from gymnasium.envs.mujoco import MujocoEnv
@ -74,16 +73,13 @@ class BeerPongEnv(MujocoEnv, utils.EzPickle):
crash = False
for _ in range(self.repeat_action):
applied_action = a + self.sim.data.qfrc_bias[:len(a)].copy() / self.model.actuator_gear[:, 0]
try:
self.do_simulation(applied_action, self.frame_skip)
self.reward_function.initialize(self)
# self.reward_function.check_contacts(self.sim) # I assume this is not important?
if self._steps < self.release_step:
self.sim.data.qpos[7::] = self.sim.data.site_xpos[self.site_id("init_ball_pos"), :].copy()
self.sim.data.qvel[7::] = self.sim.data.site_xvelp[self.site_id("init_ball_pos"), :].copy()
crash = False
except mujoco_py.builder.MujocoException:
crash = True
self.do_simulation(applied_action, self.frame_skip)
self.reward_function.initialize(self)
# self.reward_function.check_contacts(self.sim) # I assume this is not important?
if self._steps < self.release_step:
self.sim.data.qpos[7::] = self.sim.data.site_xpos[self.site_id("init_ball_pos"), :].copy()
self.sim.data.qvel[7::] = self.sim.data.site_xvelp[self.site_id("init_ball_pos"), :].copy()
crash = False
ob = self._get_obs()