fix type nnumbers; remove dynamic setting for action spaces

robfiras · Aug 6, 2024 · cb26731 · cb26731
1 parent 58fc374
commit cb26731
Show file tree

Hide file tree

Showing 3 changed files with 4 additions and 8 deletions.
diff --git a/loco_mujoco/environments/gymnasium.py b/loco_mujoco/environments/gymnasium.py
@@ -45,8 +45,7 @@ def __init__(self, env_name, render_mode=None, **kwargs):
         self._env = LocoEnv.make(env_name, **kwargs)
 
         self.observation_space = self._convert_space(self._env.info.observation_space)
-        self._set_action_space()
-
+        self.action_space = self._convert_space(self._env.info.action_space)
 
     def step(self, action):
         """
@@ -160,7 +159,4 @@ def _convert_space(space):
         low = np.min(space.low)
         high = np.max(space.high)
         shape = space.shape
-        return Box(low, high, shape, np.float64)
-
-    def _set_action_space(self):
-        return self._convert_space(self._env.info.action_space)
+        return Box(low, high, shape, np.float64)
diff --git a/loco_mujoco/environments/humanoids/base_humanoid_4_ages.py b/loco_mujoco/environments/humanoids/base_humanoid_4_ages.py
@@ -138,7 +138,7 @@ def setup(self, obs):
                         sample = self.trajectories.reset_trajectory()
                 elif self._init_step_no is not None:
                     traj_len = self.trajectories.trajectory_length
-                    n_traj = self.trajectories.nnumber_of_trajectories
+                    n_traj = self.trajectories.number_of_trajectories
                     assert self._init_step_no <= traj_len * n_traj
                     substep_no = int(self._init_step_no % traj_len)
                     traj_no = int(self._init_step_no / traj_len)

diff --git a/loco_mujoco/environments/quadrupeds/unitreeA1.py b/loco_mujoco/environments/quadrupeds/unitreeA1.py
@@ -272,7 +272,7 @@ def setup(self, obs):
                         sample = rotate_obs(sample, angle,  *self._get_relevant_idx_rotation())
                 elif self._init_step_no is not None:
                     traj_len = self.trajectories.trajectory_length
-                    n_traj = self.trajectories.nnumber_of_trajectories
+                    n_traj = self.trajectories.number_of_trajectories
                     assert self._init_step_no <= traj_len * n_traj
                     substep_no = int(self._init_step_no % traj_len)
                     traj_no = int(self._init_step_no / traj_len)