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missing goal fixes #485

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merged 2 commits into from
Jul 3, 2024
Merged

missing goal fixes #485

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0cc4754
missing goal fixes
reginald-mclean Jun 25, 2024
fef5fe8
pre-commit
reginald-mclean Jun 25, 2024
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2 changes: 1 addition & 1 deletion docs/_static/metaworld-text.svg
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2 changes: 1 addition & 1 deletion metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_push_v2.py
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Expand Up @@ -123,7 +123,7 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self.model.body("coffee_machine").pos = pos_machine

self._target_pos = pos_mug_goal
self.model.site("coffee_goal").pos = self._target_pos
self.model.site("mug_goal").pos = self._target_pos
return self._get_obs()

def compute_reward(
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2 changes: 2 additions & 0 deletions metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_side_v2.py
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Expand Up @@ -130,6 +130,8 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self.model.body("puck_goal").pos = self.obj_init_pos
self._set_obj_xyz(np.array([-0.15, 0.0]))

self.model.site("goal").pos = self._target_pos

return self._get_obs()

def compute_reward(
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2 changes: 2 additions & 0 deletions metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_v2.py
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Expand Up @@ -108,6 +108,8 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self.data.body("puck_goal").xpos = self._target_pos
self._set_obj_xyz(np.array([0, 0.15]))

self.model.site("goal").pos = self._target_pos

return self._get_obs()

def compute_reward(
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2 changes: 2 additions & 0 deletions metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_side_v2.py
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Expand Up @@ -108,6 +108,8 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self.data.body("puck_goal").xpos = self._target_pos
self._set_obj_xyz(np.zeros(2))

self.model.site("goal").pos = self._target_pos

return self._get_obs()

def compute_reward(
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2 changes: 2 additions & 0 deletions metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_v2.py
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Expand Up @@ -112,6 +112,8 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self.model.body("puck_goal").pos = self._target_pos
self._set_obj_xyz(np.zeros(2))

self.model.site("goal").pos = self._target_pos

return self._get_obs()

def compute_reward(
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3 changes: 2 additions & 1 deletion metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py
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Expand Up @@ -125,7 +125,8 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self.obj_init_pos = goal_pos[:3]
self._set_obj_xyz(self.obj_init_pos)

self._set_pos_site("goal", self._target_pos)
self.model.site("goal").pos = self._target_pos

return self._get_obs()

def compute_reward(
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2 changes: 1 addition & 1 deletion metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_wall_v2.py
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Expand Up @@ -114,7 +114,7 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self.obj_init_pos = goal_pos[:3]

self._set_obj_xyz(self.obj_init_pos)
self._set_pos_site("goal", self._target_pos)
self.model.site("goal").pos = self._target_pos
return self._get_obs()

def compute_reward(
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4 changes: 3 additions & 1 deletion metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py
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Expand Up @@ -117,7 +117,9 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self.maxPushDist = np.linalg.norm(
self.obj_init_pos[:2] - np.array(self._target_pos)[:2]
)
self._set_pos_site("goal", self._target_pos)

self.model.site("goal").pos = self._target_pos

return self._get_obs()

def _gripper_caging_reward(
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4 changes: 3 additions & 1 deletion metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_pull_v2.py
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Expand Up @@ -157,7 +157,9 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self._set_stick_xyz(self.stick_init_pos)
self._set_obj_xyz(self.obj_init_qpos)
self.obj_init_pos = self.get_body_com("object").copy()
self._set_pos_site("goal", self._target_pos)

self.model.site("goal").pos = self._target_pos

return self._get_obs()

def _stick_is_inserted(
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4 changes: 3 additions & 1 deletion metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_push_v2.py
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Expand Up @@ -154,7 +154,9 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self._set_stick_xyz(self.stick_init_pos)
self._set_obj_xyz(self.obj_init_qpos)
self.obj_init_pos = self.get_body_com("object").copy()
self._set_pos_site("goal", self._target_pos)

self.model.site("goal").pos = self._target_pos

return self._get_obs()

def _gripper_caging_reward(
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5 changes: 1 addition & 4 deletions metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_into_goal_v2.py
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Expand Up @@ -106,10 +106,7 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self.obj_init_pos = np.concatenate([goal_pos[:2], [self.obj_init_pos[-1]]])

self._set_obj_xyz(self.obj_init_pos)
self.maxPushDist = np.linalg.norm(
self.obj_init_pos[:2] - np.array(self._target_pos)[:2]
)
self._set_pos_site("goal", self._target_pos)
self.model.site("goal").pos = self._target_pos
return self._get_obs()

def _gripper_caging_reward(
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6 changes: 1 addition & 5 deletions metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py
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Expand Up @@ -101,11 +101,7 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self._target_pos[1] = obj_pos.copy()[1]

self._set_obj_xyz(self.obj_init_pos)
self.maxPushDist = np.linalg.norm(
self.get_body_com("obj")[:-1] - self._target_pos[:-1]
)
self.target_reward = 1000 * self.maxPushDist + 1000 * 2
self._set_pos_site("goal", self._target_pos)
self.model.site("goal").pos = self._target_pos
return self._get_obs()

def _gripper_caging_reward(
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2 changes: 1 addition & 1 deletion metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_close_v2.py
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Expand Up @@ -117,7 +117,7 @@ def reset_model(self) -> npt.NDArray[np.float64]:
[0.2, 0.0, 0.0]
)
self.data.joint("window_slide").qpos = 0.2
self._set_pos_site("goal", self._target_pos)
self.model.site("goal").pos = self._target_pos
return self._get_obs()

def _reset_hand(self, steps: int = 50) -> None:
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4 changes: 3 additions & 1 deletion metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_open_v2.py
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Expand Up @@ -112,7 +112,9 @@ def reset_model(self) -> npt.NDArray[np.float64]:
self.window_handle_pos_init = self._get_pos_objects()
self.data.joint("window_slide").qpos = 0.0
assert self._target_pos is not None
self._set_pos_site("goal", self._target_pos)

self.model.site("goal").pos = self._target_pos

return self._get_obs()

def compute_reward(
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