Update mujoco-py to mujoco and gym to gymnasium + more #421

reginald-mclean · 2023-07-03T20:46:11Z

This PR updates multiple things:

Mujoco-Py to new MuJoco bindings
gym to gymnasium
migrated to gymnasium mujoco env from custom mujoco env
adding EzPickle
API updates were REMOVED due to errors during tests/jankiness that had to be introduced to get tests to pass
update setup to .toml file
drop support for Python <= 3.7
General bug fixes

…ta-World consistency in README & CONTRIBUTING

Migrate the door envs to the new MuJoCo bindings & a couple minor changes

Reset from initial qpos config

Fixed plate-slide-v2

…y as far as RNG seeding goes

Migrate handle- envs to new MuJoCo bindings + fix misc issues (hand pos / rng)

Merging updated fixing issues from Farama-Foundation branch

pseudo-rnd-thoughts · 2023-07-07T10:22:42Z

The CI is crashing currently due to too much process - Process completed with exit code 137.
This is highly alarming to me but would explain why there is a memory process test

My guess is that all of the environments are initialised using memory even when not used however we do something similar in gymnasium with no issue (on a smaller scale admittedly)

pseudo-rnd-thoughts · 2023-07-07T10:24:24Z

Could you summarise the changes in the PR description
Update the PR location to master
Pre-commit should just require running pre-commit run --all-files

Tested scripted policies

Fixing issues

pseudo-rnd-thoughts

Due to the number of interlinked changes, we have decided not to split this into several smaller pr (going forward this is the plan however).
Our plan is to continue improving the implement with this PR not being the final changes

pseudo-rnd-thoughts · 2023-07-03T21:40:58Z

README.md

@@ -20,23 +20,25 @@ __Table of Contents__
 - [Acknowledgements](#acknowledgements)

 ## Join the Community
+<<<<<<< HEAD


pseudo-rnd-thoughts · 2023-07-03T21:41:30Z

metaworld/__init__.py

-        env_cls = classes[env_name]
-        env = env_cls()
+    for (env_name, args) in args_kwargs.items():
+        print(env_name, args)


pseudo-rnd-thoughts · 2023-07-03T21:42:32Z

metaworld/envs/assets_v2/sawyer_xyz/sawyer_assembly_peg.xml

@@ -24,6 +24,6 @@
        <position ctrllimited="true" ctrlrange="-1 1" joint="l_close" kp="400"  user="1"/>
    </actuator>
    <equality>
-        <weld body1="mocap" body2="hand" solref="0.02 1"/>
+        <weld body1="mocap" body2="hand" solref="0.02 1" />


Was this intentional?

@pseudo-rnd-thoughts nope

Reggie-2 and others added 30 commits February 8, 2023 10:19

Squashing of Open Issues from RLWorkGroup Ownership Transition

dc91e4e

Pushing changes for Assembly as examples for new contributors

d283073

Removing extra prints

6fe0063

updating

7e4ff88

fixed plate-slide-v2

959fb40

Updated for rendering, small bug in sim

c36f3f9

Small deviation in hand position after resetData

a11e11e

Update the door envs to the new MuJoCo Python bindings

17c0fc9

Add necessary dependency to setup.py

acae1bd

Fix typos, remove outdated references to gym/rl-workgroup & ensure Me…

fbce895

…ta-World consistency in README & CONTRIBUTING

reset from initial qpos config

c6b9d03

Merge pull request #3 from evangelos-ch/fixing-issues

0290de7

Migrate the door envs to the new MuJoCo bindings & a couple minor changes

Merge pull request #4 from rodrigodelazcano/fixing-issues

491bf36

Reset from initial qpos config

Updated Simulation Logic: manually reseting qpos

46a0807

Updated sawyer plate slide side and back

2506d66

further env updates for mujoco

c224337

Merge branch 'fixing-issues' into fix-plate-slide-v2

a7ae1b2

Merge pull request #2 from 00ber/fix-plate-slide-v2

c325072

Fixed plate-slide-v2

cleaning up before merge with master

cb7f857

further cleaning

a35bc94

reset scripted policy test

002f584

Migrate the handle- envs to the new MuJoCo bindings

7c3143a

Merge branch 'master' into fixing-issues

40c2a02

Properly set initial hand pos + obtain consistency with old repositor…

ff82b99

…y as far as RNG seeding goes

Fixing random seeding of goals

68c717a

Fix odd line in SawyerDoorEnv & its entry in env_dict after verification

9f9bd3d

Merge pull request #6 from evangelos-ch/fixing-issues

f4091f6

Migrate handle- envs to new MuJoCo bindings + fix misc issues (hand pos / rng)

Merge branch 'fixing-issues' into fixing-issues

32bf1f5

Merge pull request #7 from Farama-Foundation/fixing-issues

9f78915

Merging updated fixing issues from Farama-Foundation branch

updated environments to mujoco bindings

152a686

reginald-mclean added 11 commits July 6, 2023 12:47

Modified the entrypoint with correct name

1a5ee97

fixing merge problem

e9a5b8e

Updated to mujoco

ef2d53b

Removing unnessecary imports

6228be2

Fixing names and circular import

055a2d4

v3->v2

ed4fbcc

removing merge markers

d5d2186

removing prints

064dad6

fixing gymnasium obs space

a3299da

Use gymnasium without action size check

d779bda

oom error during CI

e71011d

reginald-mclean and others added 7 commits July 7, 2023 14:12

Fixed memory issue, CI passes locally

862f3e0

Reverting API changes, tests mostly pass

6185e1c

Merge branch 'fixing-issues' into fixing-issues

2562307

Merge pull request #8 from evangelos-ch/fixing-issues

2af0557

Tested scripted policies

Merge branch 'updating' into fixing-issues

4088184

Merge pull request #10 from reginald-mclean/fixing-issues

148fb88

Fixing issues

updating tests to remove scripted policies (not working 100%)

02f1652

reginald-mclean changed the base branch from updating to master July 10, 2023 04:05

reginald-mclean and others added 2 commits July 10, 2023 00:09

Merge branch 'master' into updating

adc2ced

need to check certain quats

cf8cc9f

pseudo-rnd-thoughts changed the title ~~Updating to most recent updates~~ Update mujoco-py to mujoco and gym to gymnasium + more Jul 10, 2023

reginald-mclean added 4 commits July 11, 2023 15:09

Pre-commit passes, tests all pass except SawyerXYZ

08b7894

removing working file

60df0b4

Use np.allclose for SawyerXYZ test

6f833e8

updating tests

4276be6

pseudo-rnd-thoughts approved these changes Jul 12, 2023

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pseudo-rnd-thoughts merged commit 19411bd into Farama-Foundation:master Jul 12, 2023
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Update mujoco-py to mujoco and gym to gymnasium + more #421

Update mujoco-py to mujoco and gym to gymnasium + more #421

reginald-mclean commented Jul 3, 2023 •

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reginald-mclean Jul 12, 2023

Update mujoco-py to mujoco and gym to gymnasium + more #421

Update mujoco-py to mujoco and gym to gymnasium + more #421

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reginald-mclean commented Jul 3, 2023 •

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