Use top_down_view in Push and Fall

mujoco_maze/maze_env.py

@@ -48,7 +48,7 @@ class MazeEnv(gym.Env):
         self.t = 0  # time steps
         self._observe_blocks = self._task.OBSERVE_BLOCKS
         self._put_spin_near_agent = self._task.PUT_SPIN_NEAR_AGENT
-        self._top_down_view = top_down_view
+        self._top_down_view = self._task.TOP_DOWN_VIEW
         self._restitution_coef = restitution_coef
 
         self._maze_structure = structure = self._task.create_maze()
@@ -248,6 +248,10 @@ class MazeEnv(gym.Env):
         self.wrapped_env = model_cls(*args, file_path=file_path, **kwargs)
         self.observation_space = self._get_obs_space()
 
+    @property
+    def has_extended_obs(self) -> bool:
+        return self._top_down_view or self._observe_blocks
+
     def get_ori(self) -> float:
         return self.wrapped_env.get_ori()
 

mujoco_maze/maze_task.py

@@ -52,6 +52,7 @@ class MazeTask(ABC):
     REWARD_THRESHOLD: float
     MAZE_SIZE_SCALING: Scaling = Scaling(8.0, 4.0)
     INNER_REWARD_SCALING: float = 0.01
+    TOP_DOWN_VIEW: bool = False
     OBSERVE_BLOCKS: bool = False
     PUT_SPIN_NEAR_AGENT: bool = False
 
@@ -114,6 +115,8 @@ class DistRewardUMaze(GoalRewardUMaze, DistRewardMixIn):
 
 
 class GoalRewardPush(GoalRewardUMaze):
+    TOP_DOWN_VIEW = True
+
     def __init__(self, scale: float) -> None:
         super().__init__(scale)
         self.goals = [MazeGoal(np.array([0.0, 2.375 * scale]))]
@@ -135,6 +138,8 @@ class DistRewardPush(GoalRewardPush, DistRewardMixIn):
 
 
 class GoalRewardFall(GoalRewardUMaze):
+    TOP_DOWN_VIEW = True
+
     def __init__(self, scale: float) -> None:
         super().__init__(scale)
         self.goals = [MazeGoal(np.array([0.0, 3.375 * scale, 4.5]))]

tests/test_envs.py

@@ -8,8 +8,10 @@ import mujoco_maze
 def test_ant_maze(maze_id):
     for i in range(2):
         env = gym.make(f"Ant{maze_id}-v{i}")
-        assert env.reset().shape == (30,)
+        s0 = env.reset()
         s, _, _, _ = env.step(env.action_space.sample())
+        if not env.unwrapped._top_down_view:
+            assert s0.shape == (30,)
             assert s.shape == (30,)
 
 
@@ -17,8 +19,10 @@ def test_ant_maze(maze_id):
 def test_point_maze(maze_id):
     for i in range(2):
         env = gym.make(f"Point{maze_id}-v{i}")
-        assert env.reset().shape == (7,)
+        s0 = env.reset()
         s, _, _, _ = env.step(env.action_space.sample())
+        if not env.unwrapped._top_down_view:
+            assert s0.shape == (7,)
             assert s.shape == (7,)