MuJoco-v5 environments replace ndarray.flat.copy() with `ndarray.fl…

…atten()` (#815)

gymnasium/envs/mujoco/ant_v5.py

@@ -404,14 +404,14 @@ def step(self, action):
         return observation, reward, terminated, False, info
 
     def _get_obs(self):
-        position = self.data.qpos.flat.copy()
-        velocity = self.data.qvel.flat.copy()
+        position = self.data.qpos.flatten()
+        velocity = self.data.qvel.flatten()
 
         if self._exclude_current_positions_from_observation:
             position = position[2:]
 
         if self._include_cfrc_ext_in_observation:
-            contact_force = self.contact_forces[1:].flat.copy()
+            contact_force = self.contact_forces[1:].flatten()
             return np.concatenate((position, velocity, contact_force))
         else:
             return np.concatenate((position, velocity))

gymnasium/envs/mujoco/half_cheetah_v5.py

@@ -263,8 +263,8 @@ def step(self, action):
         return observation, reward, False, False, info
 
     def _get_obs(self):
-        position = self.data.qpos.flat.copy()
-        velocity = self.data.qvel.flat.copy()
+        position = self.data.qpos.flatten()
+        velocity = self.data.qvel.flatten()
 
         if self._exclude_current_positions_from_observation:
             position = position[1:]

gymnasium/envs/mujoco/hopper_v5.py

@@ -301,8 +301,8 @@ def terminated(self):
         return terminated
 
     def _get_obs(self):
-        position = self.data.qpos.flat.copy()
-        velocity = np.clip(self.data.qvel.flat.copy(), -10, 10)
+        position = self.data.qpos.flatten()
+        velocity = np.clip(self.data.qvel.flatten(), -10, 10)
 
         if self._exclude_current_positions_from_observation:
             position = position[1:]

gymnasium/envs/mujoco/humanoid_v5.py

@@ -454,24 +454,24 @@ def terminated(self):
         return terminated
 
     def _get_obs(self):
-        position = self.data.qpos.flat.copy()
-        velocity = self.data.qvel.flat.copy()
+        position = self.data.qpos.flatten()
+        velocity = self.data.qvel.flatten()
 
         if self._include_cinert_in_observation is True:
-            com_inertia = self.data.cinert[1:].flat.copy()
+            com_inertia = self.data.cinert[1:].flatten()
         else:
             com_inertia = np.array([])
         if self._include_cvel_in_observation is True:
-            com_velocity = self.data.cvel[1:].flat.copy()
+            com_velocity = self.data.cvel[1:].flatten()
         else:
             com_velocity = np.array([])
 
         if self._include_qfrc_actuator_in_observation is True:
-            actuator_forces = self.data.qfrc_actuator[6:].flat.copy()
+            actuator_forces = self.data.qfrc_actuator[6:].flatten()
         else:
             actuator_forces = np.array([])
         if self._include_cfrc_ext_in_observation is True:
-            external_contact_forces = self.data.cfrc_ext[1:].flat.copy()
+            external_contact_forces = self.data.cfrc_ext[1:].flatten()
         else:
             external_contact_forces = np.array([])
 

gymnasium/envs/mujoco/humanoidstandup_v5.py

@@ -405,24 +405,24 @@ def __init__(
         }
 
     def _get_obs(self):
-        position = self.data.qpos.flat.copy()
-        velocity = self.data.qvel.flat.copy()
+        position = self.data.qpos.flatten()
+        velocity = self.data.qvel.flatten()
 
         if self._include_cinert_in_observation is True:
-            com_inertia = self.data.cinert[1:].flat.copy()
+            com_inertia = self.data.cinert[1:].flatten()
         else:
             com_inertia = np.array([])
         if self._include_cvel_in_observation is True:
-            com_velocity = self.data.cvel[1:].flat.copy()
+            com_velocity = self.data.cvel[1:].flatten()
         else:
             com_velocity = np.array([])
 
         if self._include_qfrc_actuator_in_observation is True:
-            actuator_forces = self.data.qfrc_actuator[6:].flat.copy()
+            actuator_forces = self.data.qfrc_actuator[6:].flatten()
         else:
             actuator_forces = np.array([])
         if self._include_cfrc_ext_in_observation is True:
-            external_contact_forces = self.data.cfrc_ext[1:].flat.copy()
+            external_contact_forces = self.data.cfrc_ext[1:].flatten()
         else:
             external_contact_forces = np.array([])
 

gymnasium/envs/mujoco/pusher_v5.py

@@ -266,8 +266,8 @@ def reset_model(self):
     def _get_obs(self):
         return np.concatenate(
             [
-                self.data.qpos.flat[:7],
-                self.data.qvel.flat[:7],
+                self.data.qpos.flatten()[:7],
+                self.data.qvel.flatten()[:7],
                 self.get_body_com("tips_arm"),
                 self.get_body_com("object"),
                 self.get_body_com("goal"),

gymnasium/envs/mujoco/reacher_v5.py

@@ -231,13 +231,13 @@ def reset_model(self):
         return self._get_obs()
 
     def _get_obs(self):
-        theta = self.data.qpos.flat[:2]
+        theta = self.data.qpos.flatten()[:2]
         return np.concatenate(
             [
                 np.cos(theta),
                 np.sin(theta),
-                self.data.qpos.flat[2:],
-                self.data.qvel.flat[:2],
+                self.data.qpos.flatten()[2:],
+                self.data.qvel.flatten()[:2],
                 (self.get_body_com("fingertip") - self.get_body_com("target"))[:2],
             ]
         )

gymnasium/envs/mujoco/swimmer_v5.py

@@ -256,8 +256,8 @@ def step(self, action):
         return observation, reward, False, False, info
 
     def _get_obs(self):
-        position = self.data.qpos.flat.copy()
-        velocity = self.data.qvel.flat.copy()
+        position = self.data.qpos.flatten()
+        velocity = self.data.qvel.flatten()
 
         if self._exclude_current_positions_from_observation:
             position = position[2:]

gymnasium/envs/mujoco/walker2d_v5.py

@@ -295,8 +295,8 @@ def terminated(self):
         return terminated
 
     def _get_obs(self):
-        position = self.data.qpos.flat.copy()
-        velocity = np.clip(self.data.qvel.flat.copy(), -10, 10)
+        position = self.data.qpos.flatten()
+        velocity = np.clip(self.data.qvel.flatten(), -10, 10)
 
         if self._exclude_current_positions_from_observation:
             position = position[1:]