diff --git a/robohive/envs/arms/pick_place_v0.py b/robohive/envs/arms/pick_place_v0.py index 5d944146..c9d733b8 100644 --- a/robohive/envs/arms/pick_place_v0.py +++ b/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): diff --git a/robohive/envs/arms/push_base_v0.py b/robohive/envs/arms/push_base_v0.py index ae776d80..f69af1d8 100644 --- a/robohive/envs/arms/push_base_v0.py +++ b/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 diff --git a/robohive/envs/arms/reach_base_v0.py b/robohive/envs/arms/reach_base_v0.py index 3ba08d06..5460bcc0 100644 --- a/robohive/envs/arms/reach_base_v0.py +++ b/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 diff --git a/robohive/envs/env_base.py b/robohive/envs/env_base.py index 613b0972..f55a32e2 100644 --- a/robohive/envs/env_base.py +++ b/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): diff --git a/robohive/robot/robot.py b/robohive/robot/robot.py index 3b2d880b..837d69cd 100644 --- a/robohive/robot/robot.py +++ b/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')