Support MuJoCo 1.5 #767
Support MuJoCo 1.5 #767
Conversation
| @@ -8,9 +8,9 @@ def __init__(self): | |||
| utils.EzPickle.__init__(self) | |||
|
|
|||
| def _step(self, action): | |||
| xposbefore = self.model.data.qpos[0, 0] | |||
| xposbefore = self.sim.data.qpos[0] | |||
There was a problem hiding this comment.
My understanding is that qpos lists joint angles. In half_cheetah.xml, it looks like the first joint is "rootx", a slide joint that should give displacement in the x direction. So qpos[0] should give the desired value.
| vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2 | ||
| alive_bonus = 10 | ||
| r = (alive_bonus - dist_penalty - vel_penalty)[0] | ||
| r = alive_bonus - dist_penalty - vel_penalty |
There was a problem hiding this comment.
Not sure why alive_bonus - dist_penalty - vel_penalty used to be an array. Please double check if I broke something here.
|
|
||
| def get_body_xmat(self, body_name): | ||
| idx = self.model.body_names.index(six.b(body_name)) | ||
| return self.model.data.xmat[idx].reshape((3, 3)) |
There was a problem hiding this comment.
These methods don't have obvious implementations in mujoco 1.5 and they aren't used anywhere so I deleted them.
|
@gdb would someone review this change? this one adds support for mujuco_py@1.5. |
|
@lobachevzky Does your GLFW in MuJoCo 1.5 close on calling |
|
@aravind0706 My pull request does not support closing on What is your use case? I have never had to close a window programmatically (usually I use my good old mouse). |
|
I'm currently looking into getting this PR merged. I have benchmarked your changes with PPO to ensure that they are not broken and not much harder or easier to learn than before. Here are these results: This looks very good overall. I'm just slightly concerned about |
|
Could you please bump the versions of all MuJoCo environments (e.g. |
|
I've moved your commits over to #834 and made the necessary version bumps myself. Closing this since further progress will be tracked in the new PR. Thank you so much for this contribution! |
To test these changes, I checked that gym ran on all mujoco environments and that rendering works. Also, I have been working on a custom environment using these changes for about a month with no problems. That said, I cannot swear that these changes don't break anything so I certainly welcome any feedback.