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Fixes Fetch and Robotic environments initial state issues in 1.3.0 #256

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merged 8 commits into from
Dec 19, 2024
Merged

Fixes Fetch and Robotic environments initial state issues in 1.3.0 #256

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ce6734e
update Fetch and Robotic environments to fix reset issue introduced i…
wjxgeorge Nov 26, 2024
0d0662e
update test_envs
wjxgeorge Nov 30, 2024
2e6010f
delete commented unused code
wjxgeorge Nov 30, 2024
ed9c737
update changelog for Fetch environment and HandReach of Shadow Dexter…
wjxgeorge Dec 11, 2024
35baa79
correct HandReach changelog description
wjxgeorge Dec 11, 2024
83b4a5f
update changelog description and fix test_envs.py formatting
wjxgeorge Dec 13, 2024
fba3892
update test_envs.py
wjxgeorge Dec 14, 2024
7a3b71a
update assertion to equal instead of allclose
wjxgeorge Dec 17, 2024
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10 changes: 5 additions & 5 deletions gymnasium_robotics/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ def _merge(a, b):
)

register(
id=f"FetchSlide{suffix}-v3",
id=f"FetchSlide{suffix}-v4",
entry_point="gymnasium_robotics.envs.fetch.slide:MujocoFetchSlideEnv",
kwargs=kwargs,
max_episode_steps=50,
Expand All @@ -44,7 +44,7 @@ def _merge(a, b):
)

register(
id=f"FetchPickAndPlace{suffix}-v3",
id=f"FetchPickAndPlace{suffix}-v4",
entry_point="gymnasium_robotics.envs.fetch.pick_and_place:MujocoFetchPickAndPlaceEnv",
kwargs=kwargs,
max_episode_steps=50,
Expand All @@ -58,7 +58,7 @@ def _merge(a, b):
)

register(
id=f"FetchReach{suffix}-v3",
id=f"FetchReach{suffix}-v4",
entry_point="gymnasium_robotics.envs.fetch.reach:MujocoFetchReachEnv",
kwargs=kwargs,
max_episode_steps=50,
Expand All @@ -72,7 +72,7 @@ def _merge(a, b):
)

register(
id=f"FetchPush{suffix}-v3",
id=f"FetchPush{suffix}-v4",
entry_point="gymnasium_robotics.envs.fetch.push:MujocoFetchPushEnv",
kwargs=kwargs,
max_episode_steps=50,
Expand All @@ -87,7 +87,7 @@ def _merge(a, b):
)

register(
id=f"HandReach{suffix}-v2",
id=f"HandReach{suffix}-v3",
entry_point="gymnasium_robotics.envs.shadow_dexterous_hand.reach:MujocoHandReachEnv",
kwargs=kwargs,
max_episode_steps=50,
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6 changes: 6 additions & 0 deletions gymnasium_robotics/envs/fetch/fetch_env.py
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Expand Up @@ -376,6 +376,12 @@ def _reset_sim(self):
# Reset buffers for joint states, actuators, warm-start, control buffers etc.
self._mujoco.mj_resetData(self.model, self.data)

self.data.time = self.initial_time
self.data.qpos[:] = np.copy(self.initial_qpos)
self.data.qvel[:] = np.copy(self.initial_qvel)
if self.model.na != 0:
self.data.act[:] = None

# Randomize start position of object.
if self.has_object:
object_xpos = self.initial_gripper_xpos[:2]
Expand Down
8 changes: 8 additions & 0 deletions gymnasium_robotics/envs/robot_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -305,6 +305,14 @@ def _initialize_simulation(self):
def _reset_sim(self):
# Reset buffers for joint states, warm-start, control buffers etc.
mujoco.mj_resetData(self.model, self.data)

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self.data.time = self.initial_time
self.data.qpos[:] = np.copy(self.initial_qpos)
self.data.qvel[:] = np.copy(self.initial_qvel)
if self.model.na != 0:
self.data.act[:] = None

self._mujoco.mj_forward(self.model, self.data)
return super()._reset_sim()

def render(self):
Expand Down
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