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Numpy bugfix

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This commit is contained in:
Mustafa Enes Batur 2023-11-18 23:07:43 +01:00
parent edd1e83813
commit d0cb6316a5
4 changed files with 11 additions and 6 deletions
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3
fancy_gym/envs/__init__.py
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@ -31,7 +31,6 @@ from .mujoco.table_tennis.mp_wrapper import TT_MPWrapper as MPWrapper_TableTenni
from .mujoco.table_tennis.mp_wrapper import TT_MPWrapper_Replan as MPWrapper_TableTennis_Replan from .mujoco.table_tennis.mp_wrapper import TT_MPWrapper_Replan as MPWrapper_TableTennis_Replan
from .mujoco.table_tennis.mp_wrapper import TTVelObs_MPWrapper as MPWrapper_TableTennis_VelObs from .mujoco.table_tennis.mp_wrapper import TTVelObs_MPWrapper as MPWrapper_TableTennis_VelObs
from .mujoco.table_tennis.mp_wrapper import TTVelObs_MPWrapper_Replan as MPWrapper_TableTennis_VelObs_Replan from .mujoco.table_tennis.mp_wrapper import TTVelObs_MPWrapper_Replan as MPWrapper_TableTennis_VelObs_Replan
from .mujoco.air_hockey.air_hockey_env_wrapper import MAX_EPISODE_STEPS_AIRHOCKEY
# Classic Control # Classic Control
# Simple Reacher # Simple Reacher
@ -294,5 +293,5 @@ register(
register( register(
id='fancy/AirHockey-v0', id='fancy/AirHockey-v0',
entry_point='fancy_gym.envs.mujoco:AirHockeyEnv', entry_point='fancy_gym.envs.mujoco:AirHockeyEnv',
max_episode_steps=MAX_EPISODE_STEPS_AIRHOCKEY max_episode_steps=45000
) )

5
fancy_gym/envs/mujoco/__init__.py
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@ -9,4 +9,9 @@ from .reacher.reacher import ReacherEnv
from .walker_2d_jump.walker_2d_jump import Walker2dJumpEnv from .walker_2d_jump.walker_2d_jump import Walker2dJumpEnv
from .box_pushing.box_pushing_env import BoxPushingDense, BoxPushingTemporalSparse, BoxPushingTemporalSpatialSparse from .box_pushing.box_pushing_env import BoxPushingDense, BoxPushingTemporalSparse, BoxPushingTemporalSpatialSparse
from .table_tennis.table_tennis_env import TableTennisEnv, TableTennisWind, TableTennisGoalSwitching from .table_tennis.table_tennis_env import TableTennisEnv, TableTennisWind, TableTennisGoalSwitching
from .air_hockey.air_hockey_env_wrapper import AirHockeyEnv from .air_hockey.air_hockey_env_wrapper import AirHockeyEnv
try:
from .air_hockey.air_hockey_env_wrapper import AirHockeyEnv
except:
print("[FANCY GYM] Air Hockey not available (depends on mushroom-rl, dmc, mujoco)")

4
fancy_gym/envs/mujoco/air_hockey/seven_dof/env_double.py
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@ -129,8 +129,8 @@ class AirHockeyDouble(AirHockeyBase):
self.q_pos_prev[i] = self.init_state[i] self.q_pos_prev[i] = self.init_state[i]
self.q_pos_prev[i + 7] = self.init_state[i] self.q_pos_prev[i + 7] = self.init_state[i]
self.q_vel_prev[i] = self._data.joint("iiwa_1/joint_" + str(i + 1)).qvel self.q_vel_prev[i] = self._data.joint("iiwa_1/joint_" + str(i + 1)).qvel[0]
self.q_vel_prev[i + 7] = self._data.joint("iiwa_2/joint_" + str(i + 1)).qvel self.q_vel_prev[i + 7] = self._data.joint("iiwa_2/joint_" + str(i + 1)).qvel[0]
self.universal_joint_plugin.reset() self.universal_joint_plugin.reset()

1
setup.py
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@ -12,6 +12,7 @@ extras = {
'mujoco': ['mujoco==2.3.3', 'gymnasium[mujoco]>0.26.0'], 'mujoco': ['mujoco==2.3.3', 'gymnasium[mujoco]>0.26.0'],
'mujoco-legacy': ['mujoco-py >=2.1,<2.2', 'cython<3'], 'mujoco-legacy': ['mujoco-py >=2.1,<2.2', 'cython<3'],
'jax': ["jax >=0.4.0", "jaxlib >=0.4.0"], 'jax': ["jax >=0.4.0", "jaxlib >=0.4.0"],
'mushroom-rl': ['mushroom-rl'],
} }
# All dependencies # All dependencies