chore: Update XML path for reach_cube_env and mujoco_simple_invk and …

…mujoco_interactive_simulation
perezjln · Jun 16, 2024 · 2757da6 · 2757da6
1 parent 804cdff
commit 2757da6
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/examples/gym_manipulation.py b/examples/gym_manipulation.py
@@ -1,8 +1,9 @@
-from gym_lowcostrobot.envs.push_cube_env import PushCubeEnv
+import gymnasium as gym
+import gym_lowcostrobot
 
 
 def do_env_sim():
-    env = PushCubeEnv(render_mode="human", action_mode="ee")
+    env = gym.make("PushCube-v0", observation_mode="state", render_mode="human", action_mode="ee")
     env.reset()
 
     max_step = 1000000

diff --git a/examples/gym_manipulation_sb3.py b/examples/gym_manipulation_sb3.py
@@ -1,4 +1,5 @@
 import gymnasium as gym
+import gym_lowcostrobot
 import torch
 from gymnasium.wrappers.filter_observation import FilterObservation
 from gymnasium.wrappers.flatten_observation import FlattenObservation
@@ -23,7 +24,7 @@ def do_td3_push():
 
 def make_env():
     env = gym.make("PushCube-v0", observation_mode="state", render_mode=None)
-    env = FilterObservation(env, ["arm_qpos", "object_qpos", "target_qpos"])
+    env = FilterObservation(env, ["arm_qpos", "cube_pos", "target_pos"])
     env = FlattenObservation(env)
     return env
 
@@ -38,7 +39,7 @@ def do_ppo_push(device="cpu", render=True):
 
     # Evaluate the agent
     env_test = gym.make("PushCube-v0", observation_mode="state", render_mode=None)
-    env_test = FilterObservation(env_test, ["arm_qpos", "object_qpos", "target_qpos"])
+    env_test = FilterObservation(env_test, ["arm_qpos", "cube_pos", "target_pos"])
     env_test = FlattenObservation(env_test)
     mean_reward, std_reward = evaluate_policy(model, env_test, n_eval_episodes=10, render=render)
     print(f"Mean reward: {mean_reward} +/- {std_reward}")

diff --git a/examples/mujoco_interactive_simulation.py b/examples/mujoco_interactive_simulation.py
@@ -7,7 +7,7 @@
 
 def do_interactive_sim(robot_id):
     if robot_id == "6dof":
-        m = mujoco.MjModel.from_xml_path("gym_lowcostrobot/assets/low_cost_robot_6dof/scene_one_cube.xml")
+        m = mujoco.MjModel.from_xml_path("gym_lowcostrobot/assets/low_cost_robot_6dof/reach_cube.xml")
 
     data = mujoco.MjData(m)