Merge pull request #87 from dojo-sim/jan/env_copyable

Make DojoEnvironment files copyable

Author: janbruedigam

DojoEnvironments/src/environments/ant_ars.jl

@@ -50,12 +50,12 @@ function ant_ars(;
     return AntARS{T,horizon}(mechanism, storage)
 end
 
-function state_map(::AntARS, state)
+function DojoEnvironments.state_map(::AntARS, state)
     state = state[1:28]
     return state
 end
 
-function input_map(::AntARS, input::AbstractVector)
+function DojoEnvironments.input_map(::AntARS, input::AbstractVector)
     input = [zeros(6);input] # floating base not actuated
     return input
 end
@@ -69,7 +69,7 @@ function Dojo.step!(environment::AntARS, state, input=nothing; k=1, record=false
     return
 end
 
-function get_state(environment::AntARS{T}) where T
+function DojoEnvironments.get_state(environment::AntARS{T}) where T
     contact_force = T[]
     for contact in environment.mechanism.contacts
         push!(contact_force, max(-1, min(1, contact.impulses[2][1])))

DojoEnvironments/src/environments/cartpole_dqn.jl

@@ -40,11 +40,11 @@ function cartpole_dqn(;
     return CartpoleDQN{T,horizon}(mechanism, storage)
 end
 
-function state_map(::CartpoleDQN, state)
+function DojoEnvironments.state_map(::CartpoleDQN, state)
     return state
 end
 
-function input_map(::CartpoleDQN, input::AbstractVector)
+function DojoEnvironments.input_map(::CartpoleDQN, input::AbstractVector)
     input = [input;0] # only the cart is actuated
     return input
 end
@@ -58,7 +58,7 @@ function Dojo.step!(environment::CartpoleDQN, state, input=nothing; k=1, record=
     return
 end
 
-function get_state(environment::CartpoleDQN)
+function DojoEnvironments.get_state(environment::CartpoleDQN)
     state = get_minimal_state(environment.mechanism)
     return state
 end

DojoEnvironments/src/environments/pendulum.jl

@@ -38,11 +38,11 @@ function pendulum(;
     return Pendulum{T,horizon}(mechanism, storage)
 end
 
-function state_map(::Pendulum, state)
+function DojoEnvironments.state_map(::Pendulum, state)
     return state
 end
 
-function input_map(::Pendulum, input::AbstractVector)
+function DojoEnvironments.input_map(::Pendulum, input::AbstractVector)
     return input
 end
 
@@ -55,7 +55,7 @@ function Dojo.step!(environment::Pendulum, state, input=nothing; k=1, record=fal
     return
 end
 
-function get_state(environment::Pendulum)
+function DojoEnvironments.get_state(environment::Pendulum)
     state = get_minimal_state(environment.mechanism)
     return state
 end

DojoEnvironments/src/environments/quadrotor_waypoint.jl

@@ -44,12 +44,12 @@ function quadrotor_waypoint(;
     return QuadrotorWaypoint{T,horizon}(mechanism, storage, zeros(4))
 end
 
-function state_map(::QuadrotorWaypoint, state)
+function DojoEnvironments.state_map(::QuadrotorWaypoint, state)
     state = [state;zeros(8)]
     return state
 end
 
-function input_map(environment::QuadrotorWaypoint, input::AbstractVector)
+function DojoEnvironments.input_map(environment::QuadrotorWaypoint, input::AbstractVector)
     # Input is rotor rpm directly
     # Rotors are only visualized, dynamics are mapped here
     environment.rpms = input
@@ -94,7 +94,7 @@ function Dojo.simulate!(environment::QuadrotorWaypoint{T,N}, controller! = (envi
     simulate!(environment.mechanism, 1:N, environment.storage, controller_wrapper!; kwargs...)
 end
 
-function get_state(environment::QuadrotorWaypoint)
+function DojoEnvironments.get_state(environment::QuadrotorWaypoint)
     state = get_minimal_state(environment.mechanism)[1:12]
     return state
 end

DojoEnvironments/src/environments/quadruped_sampling.jl

@@ -48,11 +48,11 @@ function quadruped_sampling(;
     return QuadrupedSampling{T,horizon}(mechanism, storage)
 end
 
-function state_map(::QuadrupedSampling, state)
+function DojoEnvironments.state_map(::QuadrupedSampling, state)
     return state
 end
 
-function input_map(::QuadrupedSampling, input::AbstractVector)
+function DojoEnvironments.input_map(::QuadrupedSampling, input::AbstractVector)
     input = [zeros(6);input] # trunk not actuated
     return input
 end
@@ -66,7 +66,7 @@ function Dojo.step!(environment::QuadrupedSampling, state, input=nothing; k=1, r
     return
 end
 
-function get_state(environment::QuadrupedSampling)
+function DojoEnvironments.get_state(environment::QuadrupedSampling)
     state = get_minimal_state(environment.mechanism)
 
 	# x: floating base, FR (hip, thigh, calf), FL, RR, RL

DojoEnvironments/src/environments/quadruped_waypoint.jl

@@ -48,11 +48,11 @@ function quadruped_waypoint(;
     return QuadrupedWaypoint{T,horizon}(mechanism, storage)
 end
 
-function state_map(::QuadrupedWaypoint, state)
+function DojoEnvironments.state_map(::QuadrupedWaypoint, state)
     return state
 end
 
-function input_map(::QuadrupedWaypoint, input::AbstractVector)
+function DojoEnvironments.input_map(::QuadrupedWaypoint, input::AbstractVector)
     input = [zeros(6);input] # trunk not actuated
     return input
 end
@@ -66,7 +66,7 @@ function Dojo.step!(environment::QuadrupedWaypoint, state, input=nothing; k=1, r
     return
 end
 
-function get_state(environment::QuadrupedWaypoint)
+function DojoEnvironments.get_state(environment::QuadrupedWaypoint)
     state = get_minimal_state(environment.mechanism)
 
 	# x: floating base, FR (hip, thigh, calf), FL, RR, RL

DojoEnvironments/src/environments/uuv_waypoint.jl

@@ -42,12 +42,12 @@ function uuv_waypoint(;
     return UUVWaypoint{T,horizon}(mechanism, storage, zeros(6))
 end
 
-function state_map(::UUVWaypoint, state)
+function DojoEnvironments.state_map(::UUVWaypoint, state)
     state = [state;zeros(12)]
     return state
 end
 
-function input_map(environment::UUVWaypoint, input::AbstractVector)
+function DojoEnvironments.input_map(environment::UUVWaypoint, input::AbstractVector)
     # Input is rotor rpm directly
     # Rotors are only visualized, dynamics are mapped here
     environment.rpms = input
@@ -98,7 +98,7 @@ function Dojo.simulate!(environment::UUVWaypoint{T,N}, controller! = (environmen
     simulate!(environment.mechanism, 1:N, environment.storage, controller_wrapper!; kwargs...)
 end
 
-function get_state(environment::UUVWaypoint)
+function DojoEnvironments.get_state(environment::UUVWaypoint)
     state = get_minimal_state(environment.mechanism)[1:12]
     return state
 end

DojoEnvironments/src/environments/youbot_waypoint.jl

@@ -44,7 +44,7 @@ function youbot_waypoint(;
     return YoubotWaypoint{T,horizon}(mechanism, storage)
 end
 
-function state_map(::YoubotWaypoint, state)
+function DojoEnvironments.state_map(::YoubotWaypoint, state)
     xy = state[1:2] # minimal coordinates are rotated for youbot
     vxy = state[4:5] # minimal coordinates are rotated for youbot
     xy_minimal = Dojo.vector_rotate([xy;0],Dojo.RotZ(-pi/2))[1:2]
@@ -57,7 +57,7 @@ function state_map(::YoubotWaypoint, state)
     return state
 end
 
-function input_map(environment::YoubotWaypoint, input::AbstractVector)
+function DojoEnvironments.input_map(environment::YoubotWaypoint, input::AbstractVector)
     # Wheels are only for visualization and not actuated
     # so the wheel input must be mapped to the base
     l = 0.456
@@ -122,7 +122,7 @@ function Dojo.simulate!(environment::YoubotWaypoint{T,N}, controller! = (environ
     simulate!(environment.mechanism, 1:N, environment.storage, controller_wrapper!; kwargs...)
 end
 
-function get_state(environment::YoubotWaypoint)
+function DojoEnvironments.get_state(environment::YoubotWaypoint)
     state = get_minimal_state(environment.mechanism)
     xy_minimal = state[1:2] # minimal coordinates are rotated for youbot
     vxy_minimal = state[4:5] # minimal coordinates are rotated for youbot