Use self.sim instead of physics
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kngwyu
parent
27ebe4ffc1
commit
7287642a76
@ -17,7 +17,6 @@
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import math
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import numpy as np
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import mujoco_py
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from gym import utils
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from gym.envs.mujoco import mujoco_env
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@ -54,16 +53,6 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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mujoco_env.MujocoEnv.__init__(self, file_path, 5)
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utils.EzPickle.__init__(self)
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@property
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def physics(self):
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# check mujoco version is greater than version 1.50 to call correct physics
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# model containing PyMjData object for getting and setting position/velocity
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# check https://github.com/openai/mujoco-py/issues/80 for updates to api
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if mujoco_py.get_version() >= "1.50":
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return self.sim
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else:
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return self.model
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def _step(self, a):
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return self.step(a)
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@ -94,13 +83,13 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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if self._expose_all_qpos:
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obs = np.concatenate(
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[
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self.physics.data.qpos.flat[:15], # Ensures only ant obs.
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self.physics.data.qvel.flat[:14],
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self.sim.data.qpos.flat[:15], # Ensures only ant obs.
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self.sim.data.qvel.flat[:14],
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]
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)
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else:
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obs = np.concatenate(
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[self.physics.data.qpos.flat[2:15], self.physics.data.qvel.flat[:14],]
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[self.sim.data.qpos.flat[2:15], self.sim.data.qvel.flat[:14],]
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)
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if self._expose_body_coms is not None:
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@ -137,7 +126,7 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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def get_ori(self):
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ori = [0, 1, 0, 0]
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rot = self.physics.data.qpos[
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rot = self.sim.data.qpos[
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self.__class__.ORI_IND : self.__class__.ORI_IND + 4
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] # take the quaternion
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ori = q_mult(q_mult(rot, ori), q_inv(rot))[1:3] # project onto x-y plane
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@ -145,12 +134,12 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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return ori
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def set_xy(self, xy):
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qpos = np.copy(self.physics.data.qpos)
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qpos = np.copy(self.sim.data.qpos)
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qpos[0] = xy[0]
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qpos[1] = xy[1]
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qvel = self.physics.data.qvel
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qvel = self.sim.data.qvel
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self.set_state(qpos, qvel)
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def get_xy(self):
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return self.physics.data.qpos[:2]
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return self.sim.data.qpos[:2]
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@ -17,7 +17,6 @@
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import math
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import numpy as np
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import mujoco_py
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from gym import utils
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from gym.envs.mujoco import mujoco_env
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@ -32,22 +31,11 @@ class PointEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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mujoco_env.MujocoEnv.__init__(self, file_path, 1)
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utils.EzPickle.__init__(self)
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@property
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def physics(self):
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# check mujoco version is greater than version 1.50 to call correct physics
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# model containing PyMjData object for getting and setting position/velocity
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# check https://github.com/openai/mujoco-py/issues/80 for updates to api
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if mujoco_py.get_version() >= "1.50":
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return self.sim
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else:
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return self.model
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def _step(self, a):
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return self.step(a)
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def step(self, action):
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action[0] = 0.2 * action[0]
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qpos = np.copy(self.physics.data.qpos)
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qpos = np.copy(self.sim.data.qpos)
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qpos[2] += action[1]
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ori = qpos[2]
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# compute increment in each direction
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@ -56,10 +44,10 @@ class PointEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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# ensure that the robot is within reasonable range
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qpos[0] = np.clip(qpos[0] + dx, -100, 100)
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qpos[1] = np.clip(qpos[1] + dy, -100, 100)
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qvel = self.physics.data.qvel
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qvel = self.sim.data.qvel
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self.set_state(qpos, qvel)
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for _ in range(0, self.frame_skip):
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self.physics.step()
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self.sim.step()
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next_obs = self._get_obs()
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reward = 0
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done = False
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@ -70,19 +58,19 @@ class PointEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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if self._expose_all_qpos:
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return np.concatenate(
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[
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self.physics.data.qpos.flat[:3], # Only point-relevant coords.
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self.physics.data.qvel.flat[:3],
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self.sim.data.qpos.flat[:3], # Only point-relevant coords.
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self.sim.data.qvel.flat[:3],
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]
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)
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return np.concatenate(
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[self.physics.data.qpos.flat[2:3], self.physics.data.qvel.flat[:3]]
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[self.sim.data.qpos.flat[2:3], self.sim.data.qvel.flat[:3]]
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)
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def reset_model(self):
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qpos = self.init_qpos + self.np_random.uniform(
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size=self.physics.model.nq, low=-0.1, high=0.1
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size=self.sim.model.nq, low=-0.1, high=0.1
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)
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qvel = self.init_qvel + self.np_random.randn(self.physics.model.nv) * 0.1
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qvel = self.init_qvel + self.np_random.randn(self.sim.model.nv) * 0.1
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# Set everything other than point to original position and 0 velocity.
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qpos[3:] = self.init_qpos[3:]
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@ -90,13 +78,17 @@ class PointEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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self.set_state(qpos, qvel)
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return self._get_obs()
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def get_ori(self):
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return self.physics.data.qpos[self.__class__.ORI_IND]
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def get_xy(self):
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qpos = self.sim.data.qpos
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return qpos[0], qpos[0]
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def set_xy(self, xy):
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qpos = np.copy(self.physics.data.qpos)
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qpos = np.copy(self.sim.data.qpos)
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qpos[0] = xy[0]
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qpos[1] = xy[1]
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qvel = self.physics.data.qvel
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qvel = self.sim.data.qvel
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self.set_state(qpos, qvel)
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def get_ori(self):
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return self.sim.data.qpos[self.ORI_IND]
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