From 5b0172d03fa7489970aacb1a21158e96ea97235c Mon Sep 17 00:00:00 2001
From: Kelly Guo <kellyguo123@hotmail.com>
Date: Thu, 21 Nov 2024 12:34:08 -0500
Subject: [PATCH 1/3] Adds gym.Env to DirectMARLEnvCfg for Gymnasium v1.0.0
---
source/extensions/omni.isaac.lab/config/extension.toml | 2 +-
source/extensions/omni.isaac.lab/docs/CHANGELOG.rst | 9 +++++++++
.../omni/isaac/lab/envs/direct_marl_env.py | 2 +-
.../omni.isaac.lab_tasks/test/test_environments.py | 4 +++-
.../test/test_multi_agent_environments.py | 6 ++++--
5 files changed, 18 insertions(+), 5 deletions(-)
diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml
index 9141590e3e..f21bd86533 100644
--- a/source/extensions/omni.isaac.lab/config/extension.toml
+++ b/source/extensions/omni.isaac.lab/config/extension.toml
@@ -1,7 +1,7 @@
[package]
# Note: Semantic Versioning is used: https://semver.org/
-version = "0.27.15"
+version = "0.27.16"
# Description
title = "Isaac Lab framework for Robot Learning"
diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
index 3050693e4b..bc7b75abde 100644
--- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
@@ -1,6 +1,15 @@
Changelog
---------
+0.27.16 (2024-11-21)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed :class:`DirectMARLEnvCfg` to inherit from ``Gymnasium.Env`` due to requirement from Gymnasium v1.0.0 requiring all environments to be a subclass of ``Gymnasium.Env`` when using the ``make`` interface.
+
+
0.27.15 (2024-11-09)
~~~~~~~~~~~~~~~~~~~~
diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py
index 70c0b3f662..4dc362276a 100644
--- a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py
+++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py
@@ -34,7 +34,7 @@
from .utils.spaces import sample_space, spec_to_gym_space
-class DirectMARLEnv:
+class DirectMARLEnv(gym.Env):
"""The superclass for the direct workflow to design multi-agent environments.
This class implements the core functionality for multi-agent reinforcement learning (MARL)
diff --git a/source/extensions/omni.isaac.lab_tasks/test/test_environments.py b/source/extensions/omni.isaac.lab_tasks/test/test_environments.py
index 440b35d7c8..8cd41fcd86 100644
--- a/source/extensions/omni.isaac.lab_tasks/test/test_environments.py
+++ b/source/extensions/omni.isaac.lab_tasks/test/test_environments.py
@@ -118,7 +118,9 @@ def _check_random_actions(self, task_name: str, device: str, num_envs: int, num_
with torch.inference_mode():
for _ in range(num_steps):
# sample actions according to the defined space
- actions = sample_space(env.single_action_space, device=env.unwrapped.device, batch_size=num_envs)
+ actions = sample_space(
+ env.unwrapped.single_action_space, device=env.unwrapped.device, batch_size=num_envs
+ )
# apply actions
transition = env.step(actions)
# check signals
diff --git a/source/extensions/omni.isaac.lab_tasks/test/test_multi_agent_environments.py b/source/extensions/omni.isaac.lab_tasks/test/test_multi_agent_environments.py
index d65a39bc45..441bdb14f7 100644
--- a/source/extensions/omni.isaac.lab_tasks/test/test_multi_agent_environments.py
+++ b/source/extensions/omni.isaac.lab_tasks/test/test_multi_agent_environments.py
@@ -105,7 +105,7 @@ def _check_random_actions(self, task_name: str, device: str, num_envs: int, num_
# this flag is necessary to prevent a bug where the simulation gets stuck randomly when running the
# test on many environments.
- env.sim.set_setting("/physics/cooking/ujitsoCollisionCooking", False)
+ env.unwrapped.sim.set_setting("/physics/cooking/ujitsoCollisionCooking", False)
# reset environment
obs, _ = env.reset()
@@ -116,7 +116,9 @@ def _check_random_actions(self, task_name: str, device: str, num_envs: int, num_
for _ in range(num_steps):
# sample actions according to the defined space
actions = {
- agent: sample_space(env.action_spaces[agent], device=env.unwrapped.device, batch_size=num_envs)
+ agent: sample_space(
+ env.unwrapped.action_spaces[agent], device=env.unwrapped.device, batch_size=num_envs
+ )
for agent in env.unwrapped.possible_agents
}
# apply actions
From 81f16cdc8580634d77f7652a4084db7facf22072 Mon Sep 17 00:00:00 2001
From: Kelly Guo <kellyguo123@hotmail.com>
Date: Thu, 21 Nov 2024 13:44:46 -0500
Subject: [PATCH 2/3] remove versioning for gymnasium
---
source/extensions/omni.isaac.lab/setup.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/extensions/omni.isaac.lab/setup.py b/source/extensions/omni.isaac.lab/setup.py
index 01229c8c4f..e2a6a4bd18 100644
--- a/source/extensions/omni.isaac.lab/setup.py
+++ b/source/extensions/omni.isaac.lab/setup.py
@@ -27,7 +27,7 @@
# devices
"hidapi",
# reinforcement learning
- "gymnasium==0.29.0",
+ "gymnasium",
# procedural-generation
"trimesh",
"pyglet<2",
From 72d74112dd87a8e3bbf0d7a5d33f104182a55d30 Mon Sep 17 00:00:00 2001
From: Kelly Guo <kellyguo123@hotmail.com>
Date: Thu, 21 Nov 2024 13:47:25 -0500
Subject: [PATCH 3/3] fix
---
source/extensions/omni.isaac.lab/docs/CHANGELOG.rst | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
index bc7b75abde..5cfd44d6a0 100644
--- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
@@ -7,7 +7,7 @@ Changelog
Changed
^^^^^^^
-* Changed :class:`DirectMARLEnvCfg` to inherit from ``Gymnasium.Env`` due to requirement from Gymnasium v1.0.0 requiring all environments to be a subclass of ``Gymnasium.Env`` when using the ``make`` interface.
+* Changed :class:`omni.isaac.lab.envs.DirectMARLEnv` to inherit from ``Gymnasium.Env`` due to requirement from Gymnasium v1.0.0 requiring all environments to be a subclass of ``Gymnasium.Env`` when using the ``make`` interface.
0.27.15 (2024-11-09)