FEATURE: reset now accepts an optional seed. A few env suites upgrade…

…d. Others are WIP and will come with next few commits

robohive/envs/arms/pick_place_v0.py

@@ -6,7 +6,7 @@
 ================================================= """
 
 import collections
-from robohive.utils.import_utils import gym
+from robohive.utils import gym
 import numpy as np
 
 from robohive.envs import env_base
@@ -115,7 +115,7 @@ def get_reward_dict(self, obs_dict):
         rwd_dict['dense'] = np.sum([wt*rwd_dict[key] for key, wt in self.rwd_keys_wt.items()], axis=0)
         return rwd_dict
 
-    def reset(self):
+    def reset(self, **kwargs):
 
         if self.randomize:
             # target location
@@ -137,7 +137,7 @@ def reset(self):
                     self.sim.model.geom_rgba[gid]=self.np_random.uniform(low=[.2, .2, .2, 1], high=[.9, .9, .9, 1]) # random color
             self.sim.forward()
 
-        obs = super().reset(self.init_qpos, self.init_qvel)
+        obs = super().reset(self.init_qpos, self.init_qvel, **kwargs)
         return obs
 
     # def viewer_setup(self):

robohive/envs/arms/push_base_v0.py

@@ -6,7 +6,7 @@
 ================================================= """
 
 import collections
-from robohive.utils.import_utils import gym
+from robohive.utils import gym
 import numpy as np
 
 from robohive.envs import env_base
@@ -103,8 +103,8 @@ def get_reward_dict(self, obs_dict):
         rwd_dict['dense'] = np.sum([wt*rwd_dict[key] for key, wt in self.rwd_keys_wt.items()], axis=0)
         return rwd_dict
 
-    def reset(self):
+    def reset(self, **kwargs):
         self.sim.model.site_pos[self.target_sid] = self.np_random.uniform(high=self.target_xyz_range['high'], low=self.target_xyz_range['low'])
         self.sim_obsd.model.site_pos[self.target_sid] = self.sim.model.site_pos[self.target_sid]
-        obs = super().reset(self.init_qpos, self.init_qvel)
+        obs = super().reset(self.init_qpos, self.init_qvel, **kwargs)
         return obs

robohive/envs/arms/reach_base_v0.py

@@ -6,7 +6,7 @@
 ================================================= """
 
 import collections
-from robohive.utils.import_utils import gym
+from robohive.utils import gym
 import numpy as np
 
 from robohive.envs import env_base
@@ -97,8 +97,8 @@ def get_reward_dict(self, obs_dict):
         rwd_dict['dense'] = np.sum([wt*rwd_dict[key] for key, wt in self.rwd_keys_wt.items()], axis=0)
         return rwd_dict
 
-    def reset(self, reset_qpos=None, reset_qvel=None):
+    def reset(self, reset_qpos=None, reset_qvel=None, **kwargs):
         self.sim.model.site_pos[self.target_sid] = self.np_random.uniform(high=self.target_xyz_range['high'], low=self.target_xyz_range['low'])
         self.sim_obsd.model.site_pos[self.target_sid] = self.sim.model.site_pos[self.target_sid]
-        obs = super().reset(reset_qpos, reset_qvel)
+        obs = super().reset(reset_qpos, reset_qvel, **kwargs)
         return obs

robohive/envs/env_base.py

@@ -5,7 +5,7 @@
 License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
 ================================================= """
 
-from robohive.utils.import_utils import gym
+from robohive.utils import gym
 import numpy as np
 import os
 import time as timer
@@ -492,14 +492,14 @@ def get_input_seed(self):
         return self.input_seed
 
 
-    def _reset(self, reset_qpos=None, reset_qvel=None, **kwargs):
+    def _reset(self, reset_qpos=None, reset_qvel=None, seed=None, **kwargs):
         """
         Reset the environment
         Default implemention provided. Override if env needs custom reset
         """
         qpos = self.init_qpos.copy() if reset_qpos is None else reset_qpos
         qvel = self.init_qvel.copy() if reset_qvel is None else reset_qvel
-        self.robot.reset(qpos, qvel, **kwargs)
+        self.robot.reset(reset_pos=qpos, reset_vel=qvel, seed=seed, **kwargs)
         return self.get_obs()
     @implement_for("gym", None, "0.26")
     def reset(self, reset_qpos=None, reset_qvel=None, **kwargs):
@@ -508,8 +508,8 @@ def reset(self, reset_qpos=None, reset_qvel=None, **kwargs):
     def reset(self, reset_qpos=None, reset_qvel=None, **kwargs):
         return self._reset(reset_qpos=reset_qpos, reset_qvel=reset_qvel, **kwargs), {}
     @implement_for("gymnasium")
-    def reset(self, reset_qpos=None, reset_qvel=None, **kwargs):
-        return self._reset(reset_qpos=reset_qpos, reset_qvel=reset_qvel, **kwargs), {}
+    def reset(self, reset_qpos=None, reset_qvel=None, seed=None, **kwargs):
+        return self._reset(reset_qpos=reset_qpos, reset_qvel=reset_qvel, seed=seed, **kwargs), {}
 
     # @property
     # def _step(self, a):

robohive/robot/robot.py

@@ -713,7 +713,8 @@ def step(self, ctrl_desired, step_duration, ctrl_normalized=True, realTimeSim=Fa
     def reset(self,
               reset_pos,
               reset_vel,
-              blocking = True
+              blocking = True,
+              **kwargs
               ):
 
         prompt("Resetting {}".format(self.name), 'white', 'on_grey', flush=True)
@@ -793,7 +794,7 @@ def __del__(self):
 
 
 def demo_robot():
-    from robohive.utils.import_utils import gym
+    from robohive.utils import gym
 
     prompt("Starting Robot===================")
     env = gym.make('FrankaReachFixed-v0')