[RFC] MJX environment prototype (WIP)
#834
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`tests/env/mujoco/test_mojoco_v3.py`
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Thanks for this work. I have a few question regarding the WIP. In particular is there any training script that support the MJX Envs. I am asking this, since the return structure of some of the functions, and no mention of truncated in the environments in the PR suggest that, currently something other way of using these environments. |
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Kallinteris-Andreas
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MJX environment prototypeMJX environment prototype (will be resumed after1.0)
Kallinteris-Andreas
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MJX environment prototype (will be resumed after1.0)MJX environment prototype (WIP)
Define environment-specific TypedDict classes for params in all MJX environments. Update MJXEnv base class and all subclasses to use these types for improved type safety and IDE support. Refine parameter types for pendulum, locomotion_2d, ant, humanoid, manipulation, and swimmer. Fix minor bugs in Ant and Humanoid environments discovered during type annotation (e.g., jnp.clip usage and method calls).
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I have paused development, waiting for
mjx==3.2& a few updates onFuncEnvrelated proposal (read first): #833
Feel free to comment on anything you want, but in particular check the
NOTEcommentsChecklist
MJXclassInvertedDoublePendulum,InvertedPendulum)HalfCheetah,Hopper,Walker2D)Reacher,Pusher)Swimmer)Ant)Humanoid,HumanoidStandup)