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Fix: Some envs used no longer existing binding to mujoco

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This commit is contained in:
Dominik Moritz Roth 2023-06-18 12:10:01 +02:00
parent 49ac9c3785
commit 60a4cf11d6
2 changed files with 13 additions and 9 deletions
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8
fancy_gym/envs/mujoco/beerpong/beerpong.py
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@ -7,6 +7,8 @@ from gymnasium.core import ObsType
from gymnasium.envs.mujoco import MujocoEnv
from gymnasium.spaces import Box
import mujoco
MAX_EPISODE_STEPS_BEERPONG = 300
FIXED_RELEASE_STEP = 62 # empirically evaluated for frame_skip=2!
@ -61,9 +63,9 @@ class BeerPongEnv(MujocoEnv, utils.EzPickle):
self.repeat_action = 2
# TODO: If accessing IDs is easier in the (new) official mujoco bindings, remove this
self.model = None
self.geom_id = lambda x: self._mujoco_bindings.mj_name2id(self.model,
self._mujoco_bindings.mjtObj.mjOBJ_GEOM,
x)
self.geom_id = lambda x: mujoco.mj_name2id(self.model,
mujoco.mjtObj.mjOBJ_GEOM,
x)
# for reward calculation
self.dists = []

14
fancy_gym/envs/mujoco/hopper_jump/hopper_jump.py
View File

@ -7,6 +7,8 @@ from gymnasium import utils
from gymnasium.envs.mujoco import MujocoEnv
from gymnasium.spaces import Box
import mujoco
MAX_EPISODE_STEPS_HOPPERJUMP = 250
@ -244,12 +246,12 @@ class HopperJumpEnv(HopperEnvCustomXML):
# floor_geom_id = self.model.geom_name2id('floor')
# foot_geom_id = self.model.geom_name2id('foot_geom')
# TODO: do this properly over a sensor in the xml file, see dmc hopper
floor_geom_id = self._mujoco_bindings.mj_name2id(self.model,
self._mujoco_bindings.mjtObj.mjOBJ_GEOM,
'floor')
foot_geom_id = self._mujoco_bindings.mj_name2id(self.model,
self._mujoco_bindings.mjtObj.mjOBJ_GEOM,
'foot_geom')
floor_geom_id = mujoco.mj_name2id(self.model,
mujoco.mjtObj.mjOBJ_GEOM,
'floor')
foot_geom_id = mujoco.mj_name2id(self.model,
mujoco.mjtObj.mjOBJ_GEOM,
'foot_geom')
for i in range(self.data.ncon):
contact = self.data.contact[i]
collision = contact.geom1 == floor_geom_id and contact.geom2 == foot_geom_id