removed dependency on mujoco-py

2022-07-13 13:28:39 +02:00
parent 2fbf42167f
commit b04e7c1dcd
17 changed files with 134 additions and 80 deletions
@@ -1,7 +1,7 @@
 import os
 from typing import Optional

-from gym.envs.mujoco.hopper_v3 import HopperEnv
+from gym.envs.mujoco.hopper_v4 import HopperEnv
 import numpy as np

 MAX_EPISODE_STEPS_HOPPERTHROW = 250
@@ -36,9 +36,16 @@ class HopperThrowEnv(HopperEnv):
        self.max_episode_steps = max_episode_steps
        self.context = context
        self.goal = 0
-        super().__init__(xml_file, forward_reward_weight, ctrl_cost_weight, healthy_reward, terminate_when_unhealthy,
-                         healthy_state_range, healthy_z_range, healthy_angle_range, reset_noise_scale,
-                         exclude_current_positions_from_observation)
+        super().__init__(xml_file=xml_file,
+                         forward_reward_weight=forward_reward_weight,
+                         ctrl_cost_weight=ctrl_cost_weight,
+                         healthy_reward=healthy_reward,
+                         terminate_when_unhealthy=terminate_when_unhealthy,
+                         healthy_angle_range=healthy_state_range,
+                         healthy_z_range=healthy_z_range,
+                         healthy_state_range=healthy_angle_range,
+                         reset_noise_scale=reset_noise_scale,
+                         exclude_current_positions_from_observation=exclude_current_positions_from_observation)

    def step(self, action):
        self.current_step += 1
@@ -1,7 +1,7 @@
 import os
 from typing import Optional

-from gym.envs.mujoco.hopper_v3 import HopperEnv
+from gym.envs.mujoco.hopper_v4 import HopperEnv

 import numpy as np

@@ -44,9 +44,16 @@ class HopperThrowInBasketEnv(HopperEnv):
        self.penalty = penalty
        self.basket_x = 5
        xml_file = os.path.join(os.path.dirname(__file__), "assets", xml_file)
-        super().__init__(xml_file, forward_reward_weight, ctrl_cost_weight, healthy_reward, terminate_when_unhealthy,
-                         healthy_state_range, healthy_z_range, healthy_angle_range, reset_noise_scale,
-                         exclude_current_positions_from_observation)
+        super().__init__(xml_file=xml_file,
+                         forward_reward_weight=forward_reward_weight,
+                         ctrl_cost_weight=ctrl_cost_weight,
+                         healthy_reward=healthy_reward,
+                         terminate_when_unhealthy=terminate_when_unhealthy,
+                         healthy_state_range=healthy_state_range,
+                         healthy_z_range=healthy_z_range,
+                         healthy_angle_range=healthy_angle_range,
+                         reset_noise_scale=reset_noise_scale,
+                         exclude_current_positions_from_observation=exclude_current_positions_from_observation)

    def step(self, action):

@@ -109,13 +116,13 @@ class HopperThrowInBasketEnv(HopperEnv):
        self.current_step = 0
        self.ball_in_basket = False
        if self.context:
-            basket_id = self.sim.model.body_name2id("basket_ground")
-            self.basket_x = self.np_random.uniform(3, 7, 1)
-            self.sim.model.body_pos[basket_id] = [self.basket_x, 0, 0]
+            self.basket_x = self.np_random.uniform(low=3, high=7, size=1)
+            self.model.body("basket_ground").pos[:] = [self.basket_x[0], 0, 0]
        return super().reset()

    # overwrite reset_model to make it deterministic
    def reset_model(self):
+        # Todo remove if not needed!
        noise_low = -self._reset_noise_scale
        noise_high = self._reset_noise_scale

@@ -16,8 +16,8 @@ class MPWrapper(RawInterfaceWrapper):

    @property
    def current_pos(self) -> Union[float, int, np.ndarray]:
-        return self.env.data.qpos[3:6].copy()
+        return self.data.qpos[3:6].copy()

    @property
    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.data.qvel[3:6].copy()
+        return self.data.qvel[3:6].copy()