Fixed FreeReach

angorapy/environments/reach.py

@@ -318,7 +318,7 @@ def _sample_goal(self):
 
     def get_target_finger_position(self):
         """Get position of the target finger in space."""
-        return self.sim.data.get_site_xpos(FINGERTIP_SITE_NAMES[np.where(self.goal == 1)[0].item()]).flatten()
+        return self.data.site(FINGERTIP_SITE_NAMES[np.where(self.goal == 1)[0].item()]).xpos.flatten()
 
     def _is_success(self, achieved_goal, desired_goal):
         d = get_fingertip_distance(self.get_thumb_position(), self.get_target_finger_position())

tests/test_agent.py

@@ -50,7 +50,7 @@ def test_drill_discrete(self):
         except Exception:
             self.fail("Discrete drill raises error.")
 
-    def test_drill_dexterity_multicontinuous(self):
+    def test_drill_manipulate_multicontinuous(self):
         """Test drilling of discrete agent (LunarLander)."""
 
         try:
@@ -62,7 +62,7 @@ def test_drill_dexterity_multicontinuous(self):
         except Exception:
             self.fail("HumanoidManipulateBlockDiscreteAsynchronous drill raises error.")
 
-    def test_drill_dexterity_continuous(self):
+    def test_drill_manipulate_continuous(self):
         """Test drilling of discrete agent (LunarLander)."""
 
         try:
@@ -74,6 +74,30 @@ def test_drill_dexterity_continuous(self):
         except Exception:
             self.fail("HumanoidManipulateBlockDiscreteAsynchronous drill raises error.")
 
+    def test_drill_reach(self):
+        """Test drilling of discrete agent (LunarLander)."""
+
+        try:
+            wrappers = [StateNormalizationTransformer, RewardNormalizationTransformer]
+            env = make_env("ReachAbsolute-v0", reward_config=None, transformers=wrappers)
+            build_models = get_model_builder(model="shadow", model_type="lstm", shared=False)
+            agent = PPOAgent(build_models, env, workers=2, horizon=128, distribution=BetaPolicyDistribution(env))
+            agent.drill(n=2, epochs=2, batch_size=64)
+        except Exception:
+            self.fail("ReachAbsolute drill raises error.")
+
+    def test_drill_freereach(self):
+        """Test drilling of free reach agent."""
+
+        try:
+            wrappers = [StateNormalizationTransformer, RewardNormalizationTransformer]
+            env = make_env("FreeReachAbsolute-v0", reward_config=None, transformers=wrappers)
+            build_models = get_model_builder(model="shadow", model_type="lstm", shared=False)
+            agent = PPOAgent(build_models, env, workers=2, horizon=128, distribution=BetaPolicyDistribution(env))
+            agent.drill(n=2, epochs=2, batch_size=64)
+        except Exception:
+            self.fail("FreeReachAbsolute drill raises error.")
+
 
 if __name__ == '__main__':
     unittest.main()