Merge pull request #15 from Co-Evolve/develop

v1.0.6

moojoco/environment/mjc_env.py

@@ -98,25 +98,17 @@ def _update_observations(self, state: MJCEnvState) -> MJCEnvState:
         return state.replace(observations=observations)
 
     def _update_simulation(self, state: MJCEnvState, ctrl: ActType) -> MJCEnvState:
-        mj_data = copy.deepcopy(state.mj_data)
-        mj_data.ctrl[:] = ctrl
+        state.mj_data.ctrl[:] = ctrl
         mujoco.mj_step(
             m=state.mj_model,
-            d=mj_data,
+            d=state.mj_data,
             nstep=self.environment_configuration.num_physics_steps_per_control_step,
         )
-        # As of MuJoCo 2.0, force-related quantities like cacc are not computed
-        # unless there's a force sensor in the model.
-        # See https://github.com/openai/gym/issues/1541
-        mujoco.mj_rnePostConstraint(state.mj_model, mj_data)
-
-        # noinspection PyUnresolvedReferences
-        return state.replace(mj_data=mj_data)
+        return state
 
     def _prepare_reset(self) -> Tuple[mujoco.MjModel, mujoco.MjData]:
-        model = copy.deepcopy(self.frozen_mj_model)
-        data = copy.deepcopy(self.frozen_mj_data)
-        return model, data
+        mujoco.mj_resetData(self.frozen_mj_model, self.frozen_mj_data)
+        return self.frozen_mj_model, self.frozen_mj_data
 
     def _finish_reset(
         self,

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "moojoco"
-version = "1.0.5"
+version = "1.0.6"
 authors = [
     { name = "Dries Marzougui", email = "[email protected]" },
 ]

setup.py

@@ -11,7 +11,7 @@
 
 setup(
         name='moojoco',
-        version='1.0.5',
+        version='1.0.6',
         description='A unified framework for implementing and interfacing with MuJoCo and MuJoCo-XLA simulation '
                     'environments.',
         long_description=readme,