CupboardsCloseAll Bug Fix

[fangqi-Zhu]

CupboardsCloseAll: It seems there are some issues with this environment, can I request a fix for this environment?

[chernyadev]

Hi @fangqi-Zhu,

Thanks for reporting this. Unfortunately can't reproduce the issue shown in the screenshot. Could you provide more details, such as the platform you're using, the code/configuration, and the steps to reproduce the problem? This will help us investigate further.

Thank you!

[fangqi-Zhu]

Thank you for your confirmation!
I was able to reproduce this issue on both macOS and Windows operating systems without modifying the code. You can reproduce the issue using the following code:

"""An example of using BiGym with state."""
from bigym.action_modes import JointPositionActionMode
from bigym.envs.reach_target import ReachTarget
from bigym.envs.cupboards import (
    DrawerTopOpen,
    DrawerTopClose,
    DrawersAllOpen,
    DrawersAllClose,
    WallCupboardOpen,
    WallCupboardClose,
    CupboardsOpenAll,
    CupboardsCloseAll,
)
 
from bigym.robots.configs.h1 import H1 

print("Running 1000 steps without pixels...")
env = DrawersAllOpen(
    action_mode=JointPositionActionMode(floating_base=True, absolute=True, block_until_reached=False),
    render_mode="human",
    robot_cls = H1
)

print("Observation Space:")
print(env.observation_space)
print("Action Space:")
print(env.action_space)

env.reset()
for i in range(100000):
    actions = env.action_space.sample()
    obs, reward, terminated, truncated, info = env.step(actions)
    img = env.render()
env.close()

I found that when I modified the Euler parameters in bigym/envs/presets/counter_base_wall_3x1.yaml, I was able to rotate the BaseCabinet, but the WallCabinet could not be rotated. I'm not sure if you can reproduce this issue. Thank you very much for your help.

Additionally, thank you for your high-quality code; I have learned a lot from it.

[chernyadev]

Thanks for sharing the code and details!

I haven’t been able to reproduce the issue on Linux, but I’ll check it out on macOS and update you here.

[chernyadev]

Quick update on the issue, it is related to updates of the Mojo, we are working on fixing these problem, it will be fixed in #19.

[chernyadev]

The issue should be resolved in #19. Could you please confirm on your side?

[fangqi-Zhu]

Thank you for your kind help!