Support MuJoCo 1.5

gym/envs/mujoco/ant.py

@@ -14,7 +14,7 @@ def _step(self, a):
         forward_reward = (xposafter - xposbefore)/self.dt
         ctrl_cost = .5 * np.square(a).sum()
         contact_cost = 0.5 * 1e-3 * np.sum(
-            np.square(np.clip(self.model.data.cfrc_ext, -1, 1)))
+            np.square(np.clip(self.sim.data.cfrc_ext, -1, 1)))
         survive_reward = 1.0
         reward = forward_reward - ctrl_cost - contact_cost + survive_reward
         state = self.state_vector()
@@ -30,9 +30,9 @@ def _step(self, a):
 
     def _get_obs(self):
         return np.concatenate([
-            self.model.data.qpos.flat[2:],
-            self.model.data.qvel.flat,
-            np.clip(self.model.data.cfrc_ext, -1, 1).flat,
+            self.sim.data.qpos.flat[2:],
+            self.sim.data.qvel.flat,
+            np.clip(self.sim.data.cfrc_ext, -1, 1).flat,
         ])
 
     def reset_model(self):

gym/envs/mujoco/half_cheetah.py

@@ -8,9 +8,9 @@ def __init__(self):
         utils.EzPickle.__init__(self)
 
     def _step(self, action):
-        xposbefore = self.model.data.qpos[0, 0]
+        xposbefore = self.sim.data.qpos[0]
         self.do_simulation(action, self.frame_skip)
-        xposafter = self.model.data.qpos[0, 0]
+        xposafter = self.sim.data.qpos[0]
         ob = self._get_obs()
         reward_ctrl = - 0.1 * np.square(action).sum()
         reward_run = (xposafter - xposbefore)/self.dt
@@ -20,8 +20,8 @@ def _step(self, action):
 
     def _get_obs(self):
         return np.concatenate([
-            self.model.data.qpos.flat[1:],
-            self.model.data.qvel.flat,
+            self.sim.data.qpos.flat[1:],
+            self.sim.data.qvel.flat,
         ])
 
     def reset_model(self):

gym/envs/mujoco/hopper.py

@@ -8,9 +8,9 @@ def __init__(self):
         utils.EzPickle.__init__(self)
 
     def _step(self, a):
-        posbefore = self.model.data.qpos[0, 0]
+        posbefore = self.sim.data.qpos[0]
         self.do_simulation(a, self.frame_skip)
-        posafter, height, ang = self.model.data.qpos[0:3, 0]
+        posafter, height, ang = self.sim.data.qpos[0:3]
         alive_bonus = 1.0
         reward = (posafter - posbefore) / self.dt
         reward += alive_bonus
@@ -23,8 +23,8 @@ def _step(self, a):
 
     def _get_obs(self):
         return np.concatenate([
-            self.model.data.qpos.flat[1:],
-            np.clip(self.model.data.qvel.flat, -10, 10)
+            self.sim.data.qpos.flat[1:],
+            np.clip(self.sim.data.qvel.flat, -10, 10)
         ])
 
     def reset_model(self):

gym/envs/mujoco/humanoid.py

@@ -2,9 +2,9 @@
 from gym.envs.mujoco import mujoco_env
 from gym import utils
 
-def mass_center(model):
-    mass = model.body_mass
-    xpos = model.data.xipos
+def mass_center(model, sim):
+    mass = np.expand_dims(model.body_mass, 1)
+    xpos = sim.data.xipos
     return (np.sum(mass * xpos, 0) / np.sum(mass))[0]
 
 class HumanoidEnv(mujoco_env.MujocoEnv, utils.EzPickle):
@@ -13,7 +13,7 @@ def __init__(self):
         utils.EzPickle.__init__(self)
 
     def _get_obs(self):
-        data = self.model.data
+        data = self.sim.data
         return np.concatenate([data.qpos.flat[2:],
                                data.qvel.flat,
                                data.cinert.flat,
@@ -22,17 +22,17 @@ def _get_obs(self):
                                data.cfrc_ext.flat])
 
     def _step(self, a):
-        pos_before = mass_center(self.model)
+        pos_before = mass_center(self.model, self.sim)
         self.do_simulation(a, self.frame_skip)
-        pos_after = mass_center(self.model)
+        pos_after = mass_center(self.model, self.sim)
         alive_bonus = 5.0
-        data = self.model.data
+        data = self.sim.data
         lin_vel_cost = 0.25 * (pos_after - pos_before) / self.model.opt.timestep
         quad_ctrl_cost = 0.1 * np.square(data.ctrl).sum()
         quad_impact_cost = .5e-6 * np.square(data.cfrc_ext).sum()
         quad_impact_cost = min(quad_impact_cost, 10)
         reward = lin_vel_cost - quad_ctrl_cost - quad_impact_cost + alive_bonus
-        qpos = self.model.data.qpos
+        qpos = self.sim.data.qpos
         done = bool((qpos[2] < 1.0) or (qpos[2] > 2.0))
         return self._get_obs(), reward, done, dict(reward_linvel=lin_vel_cost, reward_quadctrl=-quad_ctrl_cost, reward_alive=alive_bonus, reward_impact=-quad_impact_cost)
 

gym/envs/mujoco/humanoidstandup.py

@@ -2,18 +2,13 @@
 from gym.envs.mujoco import mujoco_env
 from gym import utils
 
-def mass_center(model):
-    mass = model.body_mass
-    xpos = model.data.xipos
-    return (np.sum(mass * xpos, 0) / np.sum(mass))[0]
-
 class HumanoidStandupEnv(mujoco_env.MujocoEnv, utils.EzPickle):
     def __init__(self):
         mujoco_env.MujocoEnv.__init__(self, 'humanoidstandup.xml', 5)
         utils.EzPickle.__init__(self)
 
     def _get_obs(self):
-        data = self.model.data
+        data = self.sim.data
         return np.concatenate([data.qpos.flat[2:],
                                data.qvel.flat,
                                data.cinert.flat,
@@ -23,8 +18,8 @@ def _get_obs(self):
 
     def _step(self, a):
         self.do_simulation(a, self.frame_skip)
-        pos_after = self.model.data.qpos[2][0]
-        data = self.model.data
+        pos_after = self.sim.data.qpos[2]
+        data = self.sim.data
         uph_cost = (pos_after - 0) / self.model.opt.timestep
 
         quad_ctrl_cost = 0.1 * np.square(data.ctrl).sum()

gym/envs/mujoco/inverted_double_pendulum.py

@@ -11,22 +11,22 @@ def __init__(self):
     def _step(self, action):
         self.do_simulation(action, self.frame_skip)
         ob = self._get_obs()
-        x, _, y = self.model.data.site_xpos[0]
+        x, _, y = self.sim.data.site_xpos[0]
         dist_penalty = 0.01 * x ** 2 + (y - 2) ** 2
-        v1, v2 = self.model.data.qvel[1:3]
+        v1, v2 = self.sim.data.qvel[1:3]
         vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2
         alive_bonus = 10
-        r = (alive_bonus - dist_penalty - vel_penalty)[0]
+        r = alive_bonus - dist_penalty - vel_penalty
         done = bool(y <= 1)
         return ob, r, done, {}
 
     def _get_obs(self):
         return np.concatenate([
-            self.model.data.qpos[:1],  # cart x pos
-            np.sin(self.model.data.qpos[1:]),  # link angles
-            np.cos(self.model.data.qpos[1:]),
-            np.clip(self.model.data.qvel, -10, 10),
-            np.clip(self.model.data.qfrc_constraint, -10, 10)
+            self.sim.data.qpos[:1],  # cart x pos
+            np.sin(self.sim.data.qpos[1:]),  # link angles
+            np.cos(self.sim.data.qpos[1:]),
+            np.clip(self.sim.data.qvel, -10, 10),
+            np.clip(self.sim.data.qfrc_constraint, -10, 10)
         ]).ravel()
 
     def reset_model(self):

gym/envs/mujoco/inverted_pendulum.py

@@ -22,7 +22,7 @@ def reset_model(self):
         return self._get_obs()
 
     def _get_obs(self):
-        return np.concatenate([self.model.data.qpos, self.model.data.qvel]).ravel()
+        return np.concatenate([self.sim.data.qpos, self.sim.data.qvel]).ravel()
 
     def viewer_setup(self):
         v = self.viewer

gym/envs/mujoco/mujoco_env.py

@@ -9,7 +9,6 @@
 
 try:
     import mujoco_py
-    from mujoco_py.mjlib import mjlib
 except ImportError as e:
     raise error.DependencyNotInstalled("{}. (HINT: you need to install mujoco_py, and also perform the setup instructions here: https://github.com/openai/mujoco-py/.)".format(e))
 
@@ -25,17 +24,18 @@ def __init__(self, model_path, frame_skip):
         if not path.exists(fullpath):
             raise IOError("File %s does not exist" % fullpath)
         self.frame_skip = frame_skip
-        self.model = mujoco_py.MjModel(fullpath)
-        self.data = self.model.data
+        self.model = mujoco_py.load_model_from_path(fullpath)
+        self.sim = mujoco_py.MjSim(self.model)
+        self.data = self.sim.data
         self.viewer = None
 
         self.metadata = {
             'render.modes': ['human', 'rgb_array'],
             'video.frames_per_second': int(np.round(1.0 / self.dt))
         }
 
-        self.init_qpos = self.model.data.qpos.ravel().copy()
-        self.init_qvel = self.model.data.qvel.ravel().copy()
+        self.init_qpos = self.sim.data.qpos.ravel().copy()
+        self.init_qvel = self.sim.data.qvel.ravel().copy()
         observation, _reward, done, _info = self._step(np.zeros(self.model.nu))
         assert not done
         self.obs_dim = observation.size
@@ -76,33 +76,33 @@ def viewer_setup(self):
     # -----------------------------
 
     def _reset(self):
-        mjlib.mj_resetData(self.model.ptr, self.data.ptr)
+        self.sim.reset()
         ob = self.reset_model()
         if self.viewer is not None:
-            self.viewer.autoscale()
             self.viewer_setup()
         return ob
 
     def set_state(self, qpos, qvel):
         assert qpos.shape == (self.model.nq,) and qvel.shape == (self.model.nv,)
-        self.model.data.qpos = qpos
-        self.model.data.qvel = qvel
-        self.model._compute_subtree()  # pylint: disable=W0212
-        self.model.forward()
+        old_state = self.sim.get_state()
+        new_state = mujoco_py.MjSimState(old_state.time, qpos, qvel,
+                                         old_state.act, old_state.udd_state)
+        self.sim.set_state(new_state)
+        self.sim.forward()
 
     @property
     def dt(self):
         return self.model.opt.timestep * self.frame_skip
 
     def do_simulation(self, ctrl, n_frames):
-        self.model.data.ctrl = ctrl
+        self.sim.data.ctrl[:] = ctrl
         for _ in range(n_frames):
-            self.model.step()
+            self.sim.step()
 
     def _render(self, mode='human', close=False):
         if close:
             if self.viewer is not None:
-                self._get_viewer().finish()
+                self._get_viewer()
                 self.viewer = None
             return
 
@@ -111,30 +111,19 @@ def _render(self, mode='human', close=False):
             data, width, height = self._get_viewer().get_image()
             return np.fromstring(data, dtype='uint8').reshape(height, width, 3)[::-1, :, :]
         elif mode == 'human':
-            self._get_viewer().loop_once()
+            self._get_viewer().render()
 
     def _get_viewer(self):
         if self.viewer is None:
-            self.viewer = mujoco_py.MjViewer()
-            self.viewer.start()
-            self.viewer.set_model(self.model)
+            self.viewer = mujoco_py.MjViewer(self.sim)
             self.viewer_setup()
         return self.viewer
 
     def get_body_com(self, body_name):
-        idx = self.model.body_names.index(six.b(body_name))
-        return self.model.data.com_subtree[idx]
-
-    def get_body_comvel(self, body_name):
-        idx = self.model.body_names.index(six.b(body_name))
-        return self.model.body_comvels[idx]
-
-    def get_body_xmat(self, body_name):
-        idx = self.model.body_names.index(six.b(body_name))
-        return self.model.data.xmat[idx].reshape((3, 3))
+        return self.data.get_body_xpos(body_name)
 
     def state_vector(self):
         return np.concatenate([
-            self.model.data.qpos.flat,
-            self.model.data.qvel.flat
+            self.sim.data.qpos.flat,
+            self.sim.data.qvel.flat
         ])

gym/envs/mujoco/pusher.py

@@ -3,7 +3,6 @@
 from gym.envs.mujoco import mujoco_env
 
 import mujoco_py
-from mujoco_py.mjlib import mjlib
 
 class PusherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
     def __init__(self):
@@ -50,8 +49,8 @@ def reset_model(self):
 
     def _get_obs(self):
         return np.concatenate([
-            self.model.data.qpos.flat[:7],
-            self.model.data.qvel.flat[:7],
+            self.sim.data.qpos.flat[:7],
+            self.sim.data.qvel.flat[:7],
             self.get_body_com("tips_arm"),
             self.get_body_com("object"),
             self.get_body_com("goal"),

gym/envs/mujoco/reacher.py

@@ -33,11 +33,11 @@ def reset_model(self):
         return self._get_obs()
 
     def _get_obs(self):
-        theta = self.model.data.qpos.flat[:2]
+        theta = self.sim.data.qpos.flat[:2]
         return np.concatenate([
             np.cos(theta),
             np.sin(theta),
-            self.model.data.qpos.flat[2:],
-            self.model.data.qvel.flat[:2],
+            self.sim.data.qpos.flat[2:],
+            self.sim.data.qvel.flat[:2],
             self.get_body_com("fingertip") - self.get_body_com("target")
         ])

gym/envs/mujoco/striker.py

@@ -67,8 +67,8 @@ def reset_model(self):
 
     def _get_obs(self):
         return np.concatenate([
-            self.model.data.qpos.flat[:7],
-            self.model.data.qvel.flat[:7],
+            self.sim.data.qpos.flat[:7],
+            self.sim.data.qvel.flat[:7],
             self.get_body_com("tips_arm"),
             self.get_body_com("object"),
             self.get_body_com("goal"),

gym/envs/mujoco/swimmer.py

@@ -9,18 +9,18 @@ def __init__(self):
 
     def _step(self, a):
         ctrl_cost_coeff = 0.0001
-        xposbefore = self.model.data.qpos[0, 0]
+        xposbefore = self.sim.data.qpos[0]
         self.do_simulation(a, self.frame_skip)
-        xposafter = self.model.data.qpos[0, 0]
+        xposafter = self.sim.data.qpos[0]
         reward_fwd = (xposafter - xposbefore) / self.dt
         reward_ctrl = - ctrl_cost_coeff * np.square(a).sum()
         reward = reward_fwd + reward_ctrl
         ob = self._get_obs()
         return ob, reward, False, dict(reward_fwd=reward_fwd, reward_ctrl=reward_ctrl)
 
     def _get_obs(self):
-        qpos = self.model.data.qpos
-        qvel = self.model.data.qvel
+        qpos = self.sim.data.qpos
+        qvel = self.sim.data.qvel
         return np.concatenate([qpos.flat[2:], qvel.flat])
 
     def reset_model(self):

gym/envs/mujoco/thrower.py

@@ -52,8 +52,8 @@ def reset_model(self):
 
     def _get_obs(self):
         return np.concatenate([
-            self.model.data.qpos.flat[:7],
-            self.model.data.qvel.flat[:7],
+            self.sim.data.qpos.flat[:7],
+            self.sim.data.qvel.flat[:7],
             self.get_body_com("r_wrist_roll_link"),
             self.get_body_com("ball"),
             self.get_body_com("goal"),

gym/envs/mujoco/walker2d.py

@@ -9,9 +9,9 @@ def __init__(self):
         utils.EzPickle.__init__(self)
 
     def _step(self, a):
-        posbefore = self.model.data.qpos[0, 0]
+        posbefore = self.sim.data.qpos[0]
         self.do_simulation(a, self.frame_skip)
-        posafter, height, ang = self.model.data.qpos[0:3, 0]
+        posafter, height, ang = self.sim.data.qpos[0:3]
         alive_bonus = 1.0
         reward = ((posafter - posbefore) / self.dt)
         reward += alive_bonus
@@ -22,8 +22,8 @@ def _step(self, a):
         return ob, reward, done, {}
 
     def _get_obs(self):
-        qpos = self.model.data.qpos
-        qvel = self.model.data.qvel
+        qpos = self.sim.data.qpos
+        qvel = self.sim.data.qvel
         return np.concatenate([qpos[1:], np.clip(qvel, -10, 10)]).ravel()
 
     def reset_model(self):