fixes Box low's precision warning

Farama-Foundation · Apr 15, 2024 · 8e224a0 · 8e224a0
1 parent 0745f6c
commit 8e224a0
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Showing 88 changed files with 475 additions and 214 deletions.
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_assembly_peg.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_assembly_peg.py
@@ -42,7 +42,10 @@ def __init__(self):
             np.hstack((obj_low, goal_low)),
             np.hstack((obj_high, goal_high)),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
+        )
 
     @property
     def model_name(self):

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_box_close.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_box_close.py
@@ -40,7 +40,10 @@ def __init__(self):
             np.hstack((obj_high, goal_high)),
         )
 
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
+        )
 
     @property
     def model_name(self):

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_button_press.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_button_press.py
@@ -32,10 +32,13 @@ def __init__(self):
         self.hand_init_pos = self.init_config["hand_init_pos"]
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
     @property
     def model_name(self):

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_button_press_topdown.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_button_press_topdown.py
@@ -33,10 +33,13 @@ def __init__(self):
         goal_high = self.hand_high
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
     @property
     def model_name(self):

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_button_press_topdown_wall.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_button_press_topdown_wall.py
@@ -33,10 +33,13 @@ def __init__(self):
         goal_high = self.hand_high
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
     @property
     def model_name(self):

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_button_press_wall.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_button_press_wall.py
@@ -33,11 +33,14 @@ def __init__(self):
         goal_high = self.hand_high
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
         )
 
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
+        )
 
     @property
     def model_name(self):

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_coffee_button.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_coffee_button.py
@@ -36,10 +36,13 @@ def __init__(self):
         self.hand_init_pos = self.init_config["hand_init_pos"]
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
     @property
     def model_name(self):
@@ -81,9 +84,9 @@ def reset_model(self):
             obj_pos = goal_pos + np.array([0, -0.1, -0.28])
             self._target_pos = button_pos
 
-        self.sim.model.body_pos[
-            self.model.body_name2id("coffee_machine")
-        ] = self.obj_init_pos
+        self.sim.model.body_pos[self.model.body_name2id("coffee_machine")] = (
+            self.obj_init_pos
+        )
         self.sim.model.body_pos[self.model.body_name2id("button")] = self._target_pos
         self._set_obj_xyz(obj_pos)
         self._target_pos = self._get_site_pos("coffee_goal")

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_coffee_pull.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_coffee_pull.py
@@ -37,7 +37,10 @@ def __init__(self):
             np.hstack((obj_low, goal_low)),
             np.hstack((obj_high, goal_high)),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
+        )
 
     @property
     def model_name(self):
@@ -93,9 +96,9 @@ def reset_model(self):
             self.obj_init_pos = np.concatenate((goal_pos[:2], [self.obj_init_pos[-1]]))
             machine_pos = goal_pos[:3] - np.array([0, -0.15, -0.27])
             button_pos = machine_pos + np.array([0.0, -0.12, 0.05])
-            self.sim.model.body_pos[
-                self.model.body_name2id("coffee_machine")
-            ] = machine_pos
+            self.sim.model.body_pos[self.model.body_name2id("coffee_machine")] = (
+                machine_pos
+            )
             self.sim.model.body_pos[self.model.body_name2id("button")] = button_pos
 
         self._set_obj_xyz(self.obj_init_pos)

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_coffee_push.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_coffee_push.py
@@ -37,7 +37,10 @@ def __init__(self):
             np.hstack((obj_low, goal_low)),
             np.hstack((obj_high, goal_high)),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
+        )
 
     @property
     def model_name(self):
@@ -92,9 +95,9 @@ def reset_model(self):
             self.obj_init_pos = np.concatenate((goal_pos[:2], [self.obj_init_pos[-1]]))
             machine_pos = self._target_pos - np.array([0, -0.1, -0.27])
             button_pos = machine_pos + np.array([0.0, -0.12, 0.05])
-            self.sim.model.body_pos[
-                self.model.body_name2id("coffee_machine")
-            ] = machine_pos
+            self.sim.model.body_pos[self.model.body_name2id("coffee_machine")] = (
+                machine_pos
+            )
             self.sim.model.body_pos[self.model.body_name2id("button")] = button_pos
 
         self._set_obj_xyz(self.obj_init_pos)

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_dial_turn.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_dial_turn.py
@@ -32,10 +32,13 @@ def __init__(self):
         goal_high = self.hand_high
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
     @property
     def model_name(self):

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_disassemble_peg.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_disassemble_peg.py
@@ -40,7 +40,10 @@ def __init__(self):
             np.hstack((obj_low, goal_low)),
             np.hstack((obj_high, goal_high)),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
+        )
 
     @property
     def model_name(self):

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_door.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_door.py
@@ -42,10 +42,13 @@ def __init__(self):
         goal_high = self.hand_high
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
         self.door_angle_idx = self.model.get_joint_qpos_addr("doorjoint")
 

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_door_lock.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_door_lock.py
@@ -33,10 +33,13 @@ def __init__(self):
         goal_high = self.hand_high
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
     @property
     def model_name(self):

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_door_unlock.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_door_unlock.py
@@ -32,10 +32,13 @@ def __init__(self):
         self.hand_init_pos = self.init_config["hand_init_pos"]
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
     @property
     def model_name(self):

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_drawer_close.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_drawer_close.py
@@ -38,10 +38,13 @@ def __init__(self):
         self.hand_init_pos = self.init_config["hand_init_pos"]
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
     @property
     def model_name(self):
@@ -85,9 +88,9 @@ def reset_model(self):
         drawer_cover_pos = self.obj_init_pos.copy()
         drawer_cover_pos[2] -= 0.02
         self.sim.model.body_pos[self.model.body_name2id("drawer")] = self.obj_init_pos
-        self.sim.model.body_pos[
-            self.model.body_name2id("drawer_cover")
-        ] = drawer_cover_pos
+        self.sim.model.body_pos[self.model.body_name2id("drawer_cover")] = (
+            drawer_cover_pos
+        )
         self.sim.model.site_pos[self.model.site_name2id("goal")] = self._target_pos
         self._set_obj_xyz(-0.2)
         self.maxDist = np.abs(

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_drawer_open.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_drawer_open.py
@@ -38,10 +38,13 @@ def __init__(self):
         self.hand_init_pos = self.init_config["hand_init_pos"]
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
     @property
     def model_name(self):
@@ -87,9 +90,9 @@ def reset_model(self):
         drawer_cover_pos = self.obj_init_pos.copy()
         drawer_cover_pos[2] -= 0.02
         self.sim.model.body_pos[self.model.body_name2id("drawer")] = self.obj_init_pos
-        self.sim.model.body_pos[
-            self.model.body_name2id("drawer_cover")
-        ] = drawer_cover_pos
+        self.sim.model.body_pos[self.model.body_name2id("drawer_cover")] = (
+            drawer_cover_pos
+        )
         self.sim.model.site_pos[self.model.site_name2id("goal")] = self._target_pos
         self.maxPullDist = 0.2
         self.target_reward = 1000 * self.maxPullDist + 1000 * 2

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_faucet_close.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_faucet_close.py
@@ -33,10 +33,13 @@ def __init__(self):
         goal_high = self.hand_high
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
     @property
     def model_name(self):
@@ -79,9 +82,9 @@ def reset_model(self):
             self._target_pos = final_pos
 
         self.sim.model.body_pos[self.model.body_name2id("faucet")] = self.obj_init_pos
-        self.sim.model.body_pos[
-            self.model.body_name2id("faucetBase")
-        ] = self.obj_init_pos
+        self.sim.model.body_pos[self.model.body_name2id("faucetBase")] = (
+            self.obj_init_pos
+        )
         self.maxPullDist = np.linalg.norm(self._target_pos - self.obj_init_pos)
 
         return self._get_obs()

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_faucet_open.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_faucet_open.py
@@ -32,10 +32,13 @@ def __init__(self):
         goal_high = self.hand_high
 
         self._random_reset_space = Box(
-            np.array(obj_low),
-            np.array(obj_high),
+            np.array(obj_low, dtype=np.float32),
+            np.array(obj_high, dtype=np.float32),
+        )
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
 
     @property
     def model_name(self):
@@ -80,9 +83,9 @@ def reset_model(self):
             self._target_pos = final_pos
 
         self.sim.model.body_pos[self.model.body_name2id("faucet")] = self.obj_init_pos
-        self.sim.model.body_pos[
-            self.model.body_name2id("faucetBase")
-        ] = self.obj_init_pos
+        self.sim.model.body_pos[self.model.body_name2id("faucetBase")] = (
+            self.obj_init_pos
+        )
         self.maxPullDist = np.linalg.norm(self._target_pos - self.obj_init_pos)
 
         return self._get_obs()

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_hammer.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_hammer.py
@@ -35,7 +35,10 @@ def __init__(self):
         self.liftThresh = liftThresh
 
         self._random_reset_space = Box(np.array(obj_low), np.array(obj_high))
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
+        )
 
     @property
     def model_name(self):

diff --git a/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_hand_insert.py b/metaworld/envs/mujoco/sawyer_xyz/v1/sawyer_hand_insert.py
@@ -37,7 +37,10 @@ def __init__(self):
             np.hstack((obj_low, goal_low)),
             np.hstack((obj_high, goal_high)),
         )
-        self.goal_space = Box(np.array(goal_low), np.array(goal_high))
+        self.goal_space = Box(
+            np.array(goal_low, dtype=np.float32),
+            np.array(goal_high, dtype=np.float32),
+        )
 
     @property
     def model_name(self):