diff --git a/mujoco_maze/ant.py b/mujoco_maze/ant.py index c55623b..d7a9bc3 100644 --- a/mujoco_maze/ant.py +++ b/mujoco_maze/ant.py @@ -9,6 +9,7 @@ Based on `models`_ and `gym`_ (both ant and ant-v3). from typing import Callable, Tuple import numpy as np +from gym import spaces from mujoco_maze.agent_model import AgentModel @@ -41,6 +42,15 @@ class AntEnv(AgentModel): MANUAL_COLLISION: bool = False OBJBALL_TYPE: str = "freejoint" + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 10 + } + def __init__( self, file_path: str, @@ -51,7 +61,8 @@ class AntEnv(AgentModel): self._forward_reward_weight = forward_reward_weight self._ctrl_cost_weight = ctrl_cost_weight self._forward_reward_fn = forward_reward_fn - super().__init__(file_path, 5) + self.observation_space = spaces.Box(low=-np.inf, high=np.inf) + super().__init__(file_path, 5, observation_space=self.observation_space) def _forward_reward(self, xy_pos_before: np.ndarray) -> Tuple[float, np.ndarray]: xy_pos_after = self.sim.data.qpos[:2].copy() @@ -76,8 +87,8 @@ class AntEnv(AgentModel): # No cfrc observation return np.concatenate( [ - self.sim.data.qpos.flat[:15], # Ensures only ant obs. - self.sim.data.qvel.flat[:14], + self.data.qpos.flat[:15], # Ensures only ant obs. + self.data.qvel.flat[:14], ] ) diff --git a/mujoco_maze/reacher.py b/mujoco_maze/reacher.py index d94cb4a..9026e40 100644 --- a/mujoco_maze/reacher.py +++ b/mujoco_maze/reacher.py @@ -16,6 +16,15 @@ class ReacherEnv(AgentModel): FILE: str = "reacher.xml" MANUAL_COLLISION: bool = False + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 10 + } + def __init__( self, file_path: str = None, diff --git a/mujoco_maze/swimmer.py b/mujoco_maze/swimmer.py index efe225a..b93d8d1 100644 --- a/mujoco_maze/swimmer.py +++ b/mujoco_maze/swimmer.py @@ -17,6 +17,15 @@ class SwimmerEnv(AgentModel): FILE: str = "swimmer.xml" MANUAL_COLLISION: bool = False + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 10 + } + def __init__( self, file_path: str = None, diff --git a/poetry.lock b/poetry.lock deleted file mode 100644 index e9d290e..0000000 --- a/poetry.lock +++ /dev/null @@ -1,557 +0,0 @@ -[[package]] -name = "atomicwrites" -version = "1.4.0" -description = "Atomic file writes." -category = "dev" -optional = false -python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*" - 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