added dmc updates

carl/envs/dmc/README.md

@@ -0,0 +1,10 @@
+# Headless Rendering
+If you have problems with OpenGL, this helped:
+Set this in your script
+```python
+os.environ['DISABLE_MUJOCO_RENDERING'] = '1'                                                                                                          
+os.environ['MUJOCO_GL'] = 'osmesa'                                                                                                                    
+os.environ['PYOPENGL_PLATFORM'] = 'osmesa'            
+```
+
+And set ErrorChecker to None in `OpenGL/raw/GL/_errors.py`.

carl/envs/dmc/carl_dm_finger.py

@@ -9,7 +9,7 @@
 from carl.utils.types import Context, Contexts
 
 DEFAULT_CONTEXT = {
-    "gravity": -9.81,  # Gravity is disabled via flag
+    "gravity": 9.81,  # Gravity is disabled via flag
     "friction_tangential": 1,  # Scaling factor for tangential friction of all geoms (objects)
     "friction_torsional": 1,  # Scaling factor for torsional friction of all geoms (objects)
     "friction_rolling": 1,  # Scaling factor for rolling friction of all geoms (objects)
@@ -30,7 +30,7 @@
 }
 
 CONTEXT_BOUNDS = {
-    "gravity": (-np.inf, -0.1, float),
+    "gravity": (0.1, np.inf, float),
     "friction_tangential": (0, np.inf, float),
     "friction_torsional": (0, np.inf, float),
     "friction_rolling": (0, np.inf, float),

carl/envs/dmc/carl_dm_fish.py

@@ -9,7 +9,7 @@
 from carl.utils.types import Context, Contexts
 
 DEFAULT_CONTEXT = {
-    "gravity": -9.81,  # Gravity is disabled via flag
+    "gravity": 9.81,  # Gravity is disabled via flag
     "friction_tangential": 1,  # Scaling factor for tangential friction of all geoms (objects)
     "friction_torsional": 1,  # Scaling factor for torsional friction of all geoms (objects)
     "friction_rolling": 1,  # Scaling factor for rolling friction of all geoms (objects)
@@ -26,7 +26,7 @@
 }
 
 CONTEXT_BOUNDS = {
-    "gravity": (-np.inf, -0.1, float),
+    "gravity": (0.1, np.inf, float),
     "friction_tangential": (0, np.inf, float),
     "friction_torsional": (0, np.inf, float),
     "friction_rolling": (0, np.inf, float),

carl/envs/dmc/carl_dm_quadruped.py

@@ -9,7 +9,7 @@
 from carl.utils.types import Context, Contexts
 
 DEFAULT_CONTEXT = {
-    "gravity": -9.81,
+    "gravity": 9.81,
     "friction_tangential": 1.0,  # Scaling factor for tangential friction of all geoms (objects)
     "friction_torsional": 1.0,  # Scaling factor for torsional friction of all geoms (objects)
     "friction_rolling": 1.0,  # Scaling factor for rolling friction of all geoms (objects)
@@ -26,7 +26,7 @@
 }
 
 CONTEXT_BOUNDS = {
-    "gravity": (-np.inf, -0.1, float),
+    "gravity": (0.1, np.inf, float),
     "friction_tangential": (0, np.inf, float),
     "friction_torsional": (0, np.inf, float),
     "friction_rolling": (0, np.inf, float),

carl/envs/dmc/carl_dm_walker.py

@@ -9,7 +9,7 @@
 from carl.utils.types import Context, Contexts
 
 DEFAULT_CONTEXT = {
-    "gravity": -9.81,
+    "gravity": 9.81,
     "friction_tangential": 1.0,  # Scaling factor for tangential friction of all geoms (objects)
     "friction_torsional": 1.0,  # Scaling factor for torsional friction of all geoms (objects)
     "friction_rolling": 1.0,  # Scaling factor for rolling friction of all geoms (objects)
@@ -26,7 +26,7 @@
 }
 
 CONTEXT_BOUNDS = {
-    "gravity": (-np.inf, -0.1, float),
+    "gravity": (0.1, np.inf, float),
     "friction_tangential": (0, np.inf, float),
     "friction_torsional": (0, np.inf, float),
     "friction_rolling": (0, np.inf, float),

carl/envs/dmc/dmc_tasks/finger.py

@@ -45,25 +45,34 @@ def check_constraints(
     limb_length_1: float,
     x_spinner: float = 0.2,
     x_finger: float = -0.2,
-) -> None:
+    raise_error: bool = False,
+    **kwargs: Any
+) -> bool:
+    is_okay = True
     spinner_half_length = spinner_length / 2
     # Check if spinner collides with finger hinge
     distance_spinner_to_fingerhinge = (x_spinner - x_finger) - spinner_half_length
     if distance_spinner_to_fingerhinge < 0:
-        raise ValueError(
-            f"Distance finger to spinner ({distance_spinner_to_fingerhinge}) not big enough, "
-            f"spinner can't spin. Decrease spinner_length ({spinner_length})."
-        )
+        is_okay = False
+        if raise_error:
+            raise ValueError(
+                f"Distance finger to spinner ({distance_spinner_to_fingerhinge}) not big enough, "
+                f"spinner can't spin. Decrease spinner_length ({spinner_length})."
+            )
 
     # Check if finger can reach spinner (distance should be negative)
     distance_fingertip_to_spinner = (x_spinner - spinner_half_length) - (
         x_finger + limb_length_0 + limb_length_1
     )
     if distance_fingertip_to_spinner > 0:
-        raise ValueError(
-            f"Finger cannot reach spinner ({distance_fingertip_to_spinner}). Increase either "
-            f"limb_length_0, limb_length_1 or spinner_length."
-        )
+        is_okay = False
+        if raise_error:
+            raise ValueError(
+                f"Finger cannot reach spinner ({distance_fingertip_to_spinner}). Increase either "
+                f"limb_length_0, limb_length_1 or spinner_length."
+            )
+
+    return is_okay
 
 
 def get_finger_xml_string(
@@ -98,6 +107,7 @@ def get_finger_xml_string(
         x_spinner=x_spinner,
         x_finger=x_finger,
         spinner_length=spinner_length,
+        raise_error=True
     )
 
     proximal_to = -limb_length_0

carl/envs/dmc/dmc_tasks/utils.py

@@ -162,9 +162,9 @@ def check_okay_to_set(context_feature: str | list[str]) -> bool:
         gravity = option.get("gravity")
         if gravity is not None:
             g = gravity.split(" ")
-            gravity = " ".join([g[0], g[1], str(context["gravity"])])
+            gravity = " ".join([g[0], g[1], str(-context["gravity"])])
         else:
-            gravity = " ".join(["0", "0", str(context["gravity"])])
+            gravity = " ".join(["0", "0", str(-context["gravity"])])
         option.set("gravity", gravity)
 
     if check_okay_to_set("wind"):

carl/envs/dmc/loader.py

@@ -29,6 +29,7 @@ def load_dmc_env(
     environment_kwargs: Dict[str, bool] = None,
     visualize_reward: bool = False,
 ) -> dm_env:
+
     if domain_name in _DOMAINS:
         domain = _DOMAINS[domain_name]
     elif domain_name in suite._DOMAINS:

carl/envs/dmc/wrappers.py

@@ -1,10 +1,10 @@
 from typing import Any, Optional, Tuple, TypeVar, Union
 
 import dm_env  # type: ignore
-import gymnasium as gym
+import gym
 import numpy as np
 from dm_env import StepType
-from gymnasium import spaces
+from gym import spaces
 
 ObsType = TypeVar("ObsType")
 ActType = TypeVar("ActType")