Better seed (#97)

* better seed

* numpy dep

---------

Co-authored-by: Quentin Gallouédec <[email protected]>

panda_gym/envs/core.py

@@ -277,7 +277,7 @@ def reset(
         self, seed: Optional[int] = None, options: Optional[dict] = None
     ) -> Tuple[Dict[str, np.ndarray], Dict[str, Any]]:
         super().reset(seed=seed, options=options)
-        self.task.np_random, seed = seeding.np_random(seed)
+        self.task.np_random = self.np_random
         with self.sim.no_rendering():
             self.robot.reset()
             self.task.reset()

panda_gym/envs/tasks/flip.py

@@ -67,7 +67,7 @@ def reset(self) -> None:
 
     def _sample_goal(self) -> np.ndarray:
         """Randomize goal."""
-        goal = R.random().as_quat()
+        goal = R.random(random_state=self.np_random).as_quat()
         return goal
 
     def _sample_object(self) -> Tuple[np.ndarray, np.ndarray]:

panda_gym/utils.py

@@ -12,7 +12,9 @@ def distance(a: np.ndarray, b: np.ndarray) -> np.ndarray:
         np.ndarray: The distance between the arrays.
     """
     assert a.shape == b.shape
-    return np.linalg.norm(a - b, axis=-1)
+    dist = np.linalg.norm(a - b, axis=-1)
+    # round at 1e-6 (ensure determinism and avoid numerical noise)
+    return np.round(dist, 6)
 
 
 def angle_distance(a: np.ndarray, b: np.ndarray) -> np.ndarray:

setup.py

@@ -20,7 +20,7 @@
     include_package_data=True,
     package_data={"panda_gym": ["version.txt"]},
     version=__version__,
-    install_requires=["gymnasium>=0.26", "pybullet", "numpy", "scipy"],
+    install_requires=["gymnasium>=0.26", "pybullet", "numpy<2", "scipy"],
     extras_require={
         "develop": ["pytest-cov", "black", "isort", "pytype", "sphinx", "sphinx-rtd-theme"],
     },

test/envs_test.py

@@ -1,5 +1,6 @@
 import gymnasium as gym
 import pytest
+from gymnasium.utils.env_checker import check_env
 
 import panda_gym
 
@@ -22,3 +23,9 @@ def test_env(env_id):
     """Tests running panda gym envs."""
     env = gym.make(env_id)
     run_env(env)
+
+
+@pytest.mark.parametrize("env_id", panda_gym.ENV_IDS)
+def test_check_env(env_id):
+    """Check envs with the env checker."""
+    check_env(gym.make(env_id).unwrapped, skip_render_check=True)

test/save_and_restore_test.py

@@ -10,15 +10,15 @@ def test_save_and_restore_state():
     env = gym.make("PandaReach-v3")
     env.reset()
 
-    state_id = env.save_state()
+    state_id = env.unwrapped.save_state()
 
     # Perform the action
     action = env.action_space.sample()
     observation1, _, _, _, _ = env.step(action)
 
     # Restore and perform the same action
     env.reset()
-    env.restore_state(state_id)
+    env.unwrapped.restore_state(state_id)
     observation2, _, _, _, _ = env.step(action)
 
     # The observations in both cases should be equals
@@ -30,7 +30,7 @@ def test_save_and_restore_state():
 def test_remove_state():
     env = gym.make("PandaReach-v3")
     env.reset()
-    state_id = env.save_state()
-    env.remove_state(state_id)
+    state_id = env.unwrapped.save_state()
+    env.unwrapped.remove_state(state_id)
     with pytest.raises(pybullet.error):
-        env.restore_state(state_id)
+        env.unwrapped.restore_state(state_id)