From 0419650a523433275474fc1c1aeb588ad09fbccc Mon Sep 17 00:00:00 2001 From: klowrey Date: Thu, 23 Sep 2021 14:31:11 -0700 Subject: [PATCH] update dependencies; improvements to Mujoco.jl should have much reduced latency for loading LyceumMuJoCo environments --- Manifest.toml | 676 ------------------------------------ Project.toml | 8 +- src/dmc/cartpole_swingup.jl | 12 +- src/suite/pointmass.jl | 14 +- 4 files changed, 14 insertions(+), 696 deletions(-) delete mode 100644 Manifest.toml diff --git a/Manifest.toml b/Manifest.toml deleted file mode 100644 index 77e8f0d..0000000 --- a/Manifest.toml +++ /dev/null @@ -1,676 +0,0 @@ -# This file is machine-generated - editing it directly is not advised - -[[Adapt]] -deps = ["LinearAlgebra"] -git-tree-sha1 = "c88cfc7f9c1f9f8633cddf0b56e86302b70f64c5" -uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e" -version = "1.0.1" - -[[Arpack]] -deps = ["Arpack_jll", "Libdl", "LinearAlgebra"] -git-tree-sha1 = "2ff92b71ba1747c5fdd541f8fc87736d82f40ec9" -uuid = "7d9fca2a-8960-54d3-9f78-7d1dccf2cb97" -version = "0.4.0" - -[[Arpack_jll]] -deps = ["Libdl", "OpenBLAS_jll", "Pkg"] -git-tree-sha1 = "e214a9b9bd1b4e1b4f15b22c0994862b66af7ff7" -uuid = "68821587-b530-5797-8361-c406ea357684" -version = "3.5.0+3" - -[[AxisArrays]] -deps = ["Dates", "IntervalSets", "IterTools", "RangeArrays"] -git-tree-sha1 = "04f979dd266c708f478334e0a85785eab0558740" -uuid = "39de3d68-74b9-583c-8d2d-e117c070f3a9" -version = "0.4.2" - -[[BSON]] -git-tree-sha1 = "e794bd8f3f319218e8c8b46657631bdbea2807ca" -uuid = "fbb218c0-5317-5bc6-957e-2ee96dd4b1f0" -version = "0.2.5" - -[[BangBang]] -deps = ["Compat", "ConstructionBase", "Future", "InitialValues", "LinearAlgebra", "Requires", "Setfield", "Tables", "ZygoteRules"] -git-tree-sha1 = "c9ad7258a3fe28cec503cda05dcd59afc9d2b4c3" -uuid = "198e06fe-97b7-11e9-32a5-e1d131e6ad66" -version = "0.3.19" - -[[Base64]] -uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" - -[[BenchmarkTools]] -deps = ["JSON", "Logging", "Printf", "Statistics", "UUIDs"] -git-tree-sha1 = "9e62e66db34540a0c919d72172cc2f642ac71260" -uuid = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf" -version = "0.5.0" - -[[CEnum]] -git-tree-sha1 = "62847acab40e6855a9b5905ccb99c2b5cf6b3ebb" -uuid = "fa961155-64e5-5f13-b03f-caf6b980ea82" -version = "0.2.0" - -[[CodecZlib]] -deps = ["TranscodingStreams", "Zlib_jll"] -git-tree-sha1 = "ded953804d019afa9a3f98981d99b33e3db7b6da" -uuid = "944b1d66-785c-5afd-91f1-9de20f533193" -version = "0.7.0" - -[[Compat]] -deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "SHA", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] -git-tree-sha1 = "0198d18b28c093bef39872a22f1a897218a925f5" -uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" -version = "3.8.0" - -[[CompilerSupportLibraries_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "7c4f882c41faa72118841185afc58a2eb00ef612" -uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" -version = "0.3.3+0" - -[[ConstructionBase]] -git-tree-sha1 = "a2a6a5fea4d6f730ec4c18a76d27ec10e8ec1c50" -uuid = "187b0558-2788-49d3-abe0-74a17ed4e7c9" -version = "1.0.0" - -[[Crayons]] -git-tree-sha1 = "cb7a62895da739fe5bb43f1a26d4292baf4b3dc0" -uuid = "a8cc5b0e-0ffa-5ad4-8c14-923d3ee1735f" -version = "4.0.1" - -[[DataAPI]] -git-tree-sha1 = "674b67f344687a88310213ddfa8a2b3c76cc4252" -uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a" -version = "1.1.0" - -[[DataStructures]] -deps = ["InteractiveUtils", "OrderedCollections"] -git-tree-sha1 = "73eb18320fe3ba58790c8b8f6f89420f0a622773" -uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8" -version = "0.17.11" - -[[DataValueInterfaces]] -git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6" -uuid = "e2d170a0-9d28-54be-80f0-106bbe20a464" -version = "1.0.0" - -[[Dates]] -deps = ["Printf"] -uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" - -[[DelimitedFiles]] -deps = ["Mmap"] -uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab" - -[[Distances]] -deps = ["LinearAlgebra", "Statistics"] -git-tree-sha1 = "23717536c81b63e250f682b0e0933769eecd1411" -uuid = "b4f34e82-e78d-54a5-968a-f98e89d6e8f7" -version = "0.8.2" - -[[Distributed]] -deps = ["Random", "Serialization", "Sockets"] -uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" - -[[Distributions]] -deps = ["FillArrays", "LinearAlgebra", "PDMats", "Printf", "QuadGK", "Random", "SpecialFunctions", "Statistics", "StatsBase", "StatsFuns"] -git-tree-sha1 = "55e1de79bd2c397e048ca47d251f8fa70e530550" -uuid = "31c24e10-a181-5473-b8eb-7969acd0382f" -version = "0.22.6" - -[[DocStringExtensions]] -deps = ["LibGit2", "Markdown", "Pkg", "Test"] -git-tree-sha1 = "88bb0edb352b16608036faadcc071adda068582a" -uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" -version = "0.8.1" - -[[ElasticArrays]] -git-tree-sha1 = "5b5b7cb8cba44bcf337b8af0a1f3e57c89468660" -uuid = "fdbdab4c-e67f-52f5-8c3f-e7b388dad3d4" -version = "1.0.0" - -[[EllipsisNotation]] -git-tree-sha1 = "65dad386e877850e6fce4fc77f60fe75a468ce9d" -uuid = "da5c29d0-fa7d-589e-88eb-ea29b0a81949" -version = "0.4.0" - -[[ExprTools]] -git-tree-sha1 = "08c1f74d9ad03acf0ee84c12c9e665ab1a9a6e33" -uuid = "e2ba6199-217a-4e67-a87a-7c52f15ade04" -version = "0.1.0" - -[[EzXML]] -deps = ["Printf", "XML2_jll"] -git-tree-sha1 = "0fa3b52a04a4e210aeb1626def9c90df3ae65268" -uuid = "8f5d6c58-4d21-5cfd-889c-e3ad7ee6a615" -version = "1.1.0" - -[[FilePathsBase]] -deps = ["Dates", "LinearAlgebra", "Printf", "Test", "UUIDs"] -git-tree-sha1 = "923fd3b942a11712435682eaa95cc8518c428b2c" -uuid = "48062228-2e41-5def-b9a4-89aafe57970f" -version = "0.8.0" - -[[FillArrays]] -deps = ["LinearAlgebra", "Random", "SparseArrays"] -git-tree-sha1 = "51cc2f9bc4eb9c6c0e81ec2f779d1085583cc956" -uuid = "1a297f60-69ca-5386-bcde-b61e274b549b" -version = "0.8.7" - -[[Future]] -deps = ["Random"] -uuid = "9fa8497b-333b-5362-9e8d-4d0656e87820" - -[[GLEW_jll]] -deps = ["Libdl", "Libglvnd_jll", "Pkg", "X11_jll", "Xorg_libXi_jll"] -git-tree-sha1 = "b8b52eb7fd8819cef9b5348b701058009bcad1d1" -uuid = "bde7f898-03f7-559e-8810-194d950ce600" -version = "2.1.0+3" - -[[GLFW_jll]] -deps = ["Libdl", "Libglvnd_jll", "Pkg", "Xorg_libXcursor_jll", "Xorg_libXi_jll", "Xorg_libXinerama_jll", "Xorg_libXrandr_jll"] -git-tree-sha1 = "3b04f1dd73f0efa81298a76c9515f306df06f613" -uuid = "0656b61e-2033-5cc2-a64a-77c0f6c09b89" -version = "3.3.2+0" - -[[InitialValues]] -git-tree-sha1 = "ef18588a15dcd6aff37a09108d7b3754093d73be" -uuid = "22cec73e-a1b8-11e9-2c92-598750a2cf9c" -version = "0.2.2" - -[[InteractiveUtils]] -deps = ["Markdown"] -uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" - -[[IntervalSets]] -deps = ["Dates", "EllipsisNotation", "Statistics"] -git-tree-sha1 = "8a83c4788fdc2e32d08d90214834ec2dc1a54f57" -uuid = "8197267c-284f-5f27-9208-e0e47529a953" -version = "0.4.0" - -[[IterTools]] -git-tree-sha1 = "05110a2ab1fc5f932622ffea2a003221f4782c18" -uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e" -version = "1.3.0" - -[[IteratorInterfaceExtensions]] -git-tree-sha1 = "a3f24677c21f5bbe9d2a714f95dcd58337fb2856" -uuid = "82899510-4779-5014-852e-03e436cf321d" -version = "1.0.0" - -[[JLSO]] -deps = ["BSON", "CodecZlib", "FilePathsBase", "Memento", "Pkg", "Serialization"] -git-tree-sha1 = "250ffc4f6e9c7c38f5e96fe45218ea77ec50635d" -uuid = "9da8a3cd-07a3-59c0-a743-3fdc52c30d11" -version = "2.3.1" - -[[JSON]] -deps = ["Dates", "Mmap", "Parsers", "Unicode"] -git-tree-sha1 = "b34d7cef7b337321e97d22242c3c2b91f476748e" -uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6" -version = "0.21.0" - -[[LibGit2]] -deps = ["Printf"] -uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" - -[[Libdl]] -uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" - -[[Libgcrypt_jll]] -deps = ["Libdl", "Libgpg_error_jll", "Pkg"] -git-tree-sha1 = "7efb7f5e75a0f7323cce366d3e44a2d225c5617a" -uuid = "d4300ac3-e22c-5743-9152-c294e39db1e4" -version = "1.8.5+1" - -[[Libglvnd_jll]] -deps = ["Libdl", "Pkg", "Xorg_libX11_jll", "Xorg_libXext_jll"] -git-tree-sha1 = "30a990af9ce535bcba54d1f23f071a7e714f861e" -uuid = "7e76a0d4-f3c7-5321-8279-8d96eeed0f29" -version = "1.3.0+1" - -[[Libgpg_error_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "334284a62d6b8592099d28b78c76aefc266c03a2" -uuid = "7add5ba3-2f88-524e-9cd5-f83b8a55f7b8" -version = "1.36.0+1" - -[[Libiconv_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "e5256a3b0ebc710dbd6da0c0b212164a3681037f" -uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" -version = "1.16.0+2" - -[[LinearAlgebra]] -deps = ["Libdl"] -uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" - -[[Logging]] -uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" - -[[LyceumBase]] -deps = ["Adapt", "BangBang", "BenchmarkTools", "Dates", "Distributions", "DocStringExtensions", "ElasticArrays", "EllipsisNotation", "Future", "InteractiveUtils", "JLSO", "LibGit2", "LinearAlgebra", "Logging", "MacroTools", "Parameters", "Pkg", "Random", "Reexport", "Setfield", "Shapes", "StaticArrays", "Statistics", "Test", "TimeZones", "UnicodePlots", "UniversalLogger", "UnsafeArrays"] -git-tree-sha1 = "680cdfbe11f9b029c65f36932fec66d40238b9bd" -uuid = "db31fed1-ca1e-4084-8a49-12fae1996a55" -version = "0.2.1" - -[[MacroTools]] -deps = ["Markdown", "Random"] -git-tree-sha1 = "f7d2e3f654af75f01ec49be82c231c382214223a" -uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09" -version = "0.5.5" - -[[Markdown]] -deps = ["Base64"] -uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" - -[[Memento]] -deps = ["Dates", "Distributed", "JSON", "Serialization", "Sockets", "Syslogs", "Test", "TimeZones", "UUIDs"] -git-tree-sha1 = "5b0f65a76a45d1e9a28f56c5c82743e4d0eecbe9" -uuid = "f28f55f0-a522-5efc-85c2-fe41dfb9b2d9" -version = "1.0.0" - -[[Missings]] -deps = ["DataAPI"] -git-tree-sha1 = "de0a5ce9e5289f27df672ffabef4d1e5861247d5" -uuid = "e1d29d7a-bbdc-5cf2-9ac0-f12de2c33e28" -version = "0.4.3" - -[[Mmap]] -uuid = "a63ad114-7e13-5084-954f-fe012c677804" - -[[Mocking]] -deps = ["ExprTools"] -git-tree-sha1 = "916b850daad0d46b8c71f65f719c49957e9513ed" -uuid = "78c3b35d-d492-501b-9361-3d52fe80e533" -version = "0.7.1" - -[[MuJoCo]] -deps = ["AxisArrays", "BangBang", "Base64", "CEnum", "LinearAlgebra", "MacroTools", "MuJoCo_jll", "Reexport", "StaticArrays", "UnsafeArrays"] -git-tree-sha1 = "cacfbec55ae951693a9043e4fc1df825e8964f3e" -uuid = "93189219-7048-461c-94ec-443a161ed927" -version = "0.3.0" - -[[MuJoCo_jll]] -deps = ["GLEW_jll", "GLFW_jll", "Libdl", "Libglvnd_jll", "Pkg"] -git-tree-sha1 = "500ed43eebb61f915cc6910d3a9afda225655fcc" -uuid = "32af7c3b-80ec-5621-8194-2f6cb2280831" -version = "2.0.0+1" - -[[OpenBLAS_jll]] -deps = ["CompilerSupportLibraries_jll", "Libdl", "Pkg"] -git-tree-sha1 = "2ee3e636e94b9fd95fa8364d5cba2e20dae16609" -uuid = "4536629a-c528-5b80-bd46-f80d51c5b363" -version = "0.3.9+2" - -[[OpenSpecFun_jll]] -deps = ["CompilerSupportLibraries_jll", "Libdl", "Pkg"] -git-tree-sha1 = "d51c416559217d974a1113522d5919235ae67a87" -uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" -version = "0.5.3+3" - -[[OrderedCollections]] -deps = ["Random", "Serialization", "Test"] -git-tree-sha1 = "c4c13474d23c60d20a67b217f1d7f22a40edf8f1" -uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d" -version = "1.1.0" - -[[PDMats]] -deps = ["Arpack", "LinearAlgebra", "SparseArrays", "SuiteSparse", "Test"] -git-tree-sha1 = "2fc6f50ddd959e462f0a2dbc802ddf2a539c6e35" -uuid = "90014a1f-27ba-587c-ab20-58faa44d9150" -version = "0.9.12" - -[[Parameters]] -deps = ["OrderedCollections"] -git-tree-sha1 = "b62b2558efb1eef1fa44e4be5ff58a515c287e38" -uuid = "d96e819e-fc66-5662-9728-84c9c7592b0a" -version = "0.12.0" - -[[Parsers]] -deps = ["Dates", "Test"] -git-tree-sha1 = "75d07cb840c300084634b4991761886d0d762724" -uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.1" - -[[Pkg]] -deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] -uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" - -[[Printf]] -deps = ["Unicode"] -uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" - -[[PushVectors]] -git-tree-sha1 = "f157c6758aba95f179d28fcb6b3928d9e5e8c4d9" -uuid = "36b54c61-190e-5a5f-82d5-6f0a962d7362" -version = "0.2.0" - -[[QuadGK]] -deps = ["DataStructures", "LinearAlgebra"] -git-tree-sha1 = "dc84e810393cfc6294248c9032a9cdacc14a3db4" -uuid = "1fd47b50-473d-5c70-9696-f719f8f3bcdc" -version = "2.3.1" - -[[REPL]] -deps = ["InteractiveUtils", "Markdown", "Sockets"] -uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" - -[[Random]] -deps = ["Serialization"] -uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" - -[[RangeArrays]] -git-tree-sha1 = "b9039e93773ddcfc828f12aadf7115b4b4d225f5" -uuid = "b3c3ace0-ae52-54e7-9d0b-2c1406fd6b9d" -version = "0.3.2" - -[[Reexport]] -deps = ["Pkg"] -git-tree-sha1 = "7b1d07f411bc8ddb7977ec7f377b97b158514fe0" -uuid = "189a3867-3050-52da-a836-e630ba90ab69" -version = "0.2.0" - -[[Requires]] -deps = ["UUIDs"] -git-tree-sha1 = "d37400976e98018ee840e0ca4f9d20baa231dc6b" -uuid = "ae029012-a4dd-5104-9daa-d747884805df" -version = "1.0.1" - -[[Rmath]] -deps = ["Random", "Rmath_jll"] -git-tree-sha1 = "86c5647b565873641538d8f812c04e4c9dbeb370" -uuid = "79098fc4-a85e-5d69-aa6a-4863f24498fa" -version = "0.6.1" - -[[Rmath_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "1660f8fefbf5ab9c67560513131d4e933012fc4b" -uuid = "f50d1b31-88e8-58de-be2c-1cc44531875f" -version = "0.2.2+0" - -[[SHA]] -uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" - -[[Serialization]] -uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" - -[[Setfield]] -deps = ["ConstructionBase", "Future", "MacroTools", "Requires"] -git-tree-sha1 = "7a151f918819326a6003dba451dabe65f8c0f6fb" -uuid = "efcf1570-3423-57d1-acb7-fd33fddbac46" -version = "0.6.0" - -[[Shapes]] -deps = ["Adapt", "MacroTools", "Random", "Requires", "StaticArrays", "UnsafeArrays"] -git-tree-sha1 = "aea02f3760bfabce446ee71bf0902348ae30f471" -uuid = "175de200-b73b-11e9-28b7-9b5b306cec37" -version = "0.2.1" - -[[SharedArrays]] -deps = ["Distributed", "Mmap", "Random", "Serialization"] -uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383" - -[[Sockets]] -uuid = "6462fe0b-24de-5631-8697-dd941f90decc" - -[[SortingAlgorithms]] -deps = ["DataStructures", "Random", "Test"] -git-tree-sha1 = "03f5898c9959f8115e30bc7226ada7d0df554ddd" -uuid = "a2af1166-a08f-5f64-846c-94a0d3cef48c" -version = "0.3.1" - -[[SparseArrays]] -deps = ["LinearAlgebra", "Random"] -uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" - -[[SpecialFunctions]] -deps = ["OpenSpecFun_jll"] -git-tree-sha1 = "e19b98acb182567bcb7b75bb5d9eedf3a3b5ec6c" -uuid = "276daf66-3868-5448-9aa4-cd146d93841b" -version = "0.10.0" - -[[StaticArrays]] -deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "5a3bcb6233adabde68ebc97be66e95dcb787424c" -uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "0.12.1" - -[[Statistics]] -deps = ["LinearAlgebra", "SparseArrays"] -uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" - -[[StatsBase]] -deps = ["DataAPI", "DataStructures", "LinearAlgebra", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics"] -git-tree-sha1 = "19bfcb46245f69ff4013b3df3b977a289852c3a1" -uuid = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91" -version = "0.32.2" - -[[StatsFuns]] -deps = ["Rmath", "SpecialFunctions"] -git-tree-sha1 = "f290ddd5fdedeadd10e961eb3f4d3340f09d030a" -uuid = "4c63d2b9-4356-54db-8cca-17b64c39e42c" -version = "0.9.4" - -[[SuiteSparse]] -deps = ["Libdl", "LinearAlgebra", "Serialization", "SparseArrays"] -uuid = "4607b0f0-06f3-5cda-b6b1-a6196a1729e9" - -[[Syslogs]] -deps = ["Printf", "Sockets"] -git-tree-sha1 = "46badfcc7c6e74535cc7d833a91f4ac4f805f86d" -uuid = "cea106d9-e007-5e6c-ad93-58fe2094e9c4" -version = "0.3.0" - -[[TableTraits]] -deps = ["IteratorInterfaceExtensions"] -git-tree-sha1 = "b1ad568ba658d8cbb3b892ed5380a6f3e781a81e" -uuid = "3783bdb8-4a98-5b6b-af9a-565f29a5fe9c" -version = "1.0.0" - -[[Tables]] -deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "TableTraits", "Test"] -git-tree-sha1 = "242b7fde70b8bc6a30d6476adf17ca3cf1ced6ee" -uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c" -version = "1.0.3" - -[[Test]] -deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] -uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" - -[[TimeZones]] -deps = ["Dates", "EzXML", "Mocking", "Printf", "Serialization", "Unicode"] -git-tree-sha1 = "f60a33649ef8380bafe6be7d1af1eeb8a3a3ea92" -uuid = "f269a46b-ccf7-5d73-abea-4c690281aa53" -version = "1.0.1" - -[[TranscodingStreams]] -deps = ["Random", "Test"] -git-tree-sha1 = "7c53c35547de1c5b9d46a4797cf6d8253807108c" -uuid = "3bb67fe8-82b1-5028-8e26-92a6c54297fa" -version = "0.9.5" - -[[UUIDs]] -deps = ["Random", "SHA"] -uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" - -[[Unicode]] -uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" - -[[UnicodePlots]] -deps = ["Crayons", "Dates", "SparseArrays", "StatsBase"] -git-tree-sha1 = "af0c29913f108f649999e74098814c7ef0f644de" -uuid = "b8865327-cd53-5732-bb35-84acbb429228" -version = "1.2.0" - -[[UniversalLogger]] -deps = ["Logging", "PushVectors"] -git-tree-sha1 = "ae1a73e7681e27bc37d8d9db21af73d7cf4518fd" -uuid = "5c5e3362-9445-4819-9f95-51c44c51adeb" -version = "0.2.0" - -[[UnsafeArrays]] -git-tree-sha1 = "1de6ef280110c7ad3c5d2f7a31a360b57a1bde21" -uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.0" - -[[X11_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "dfadaea7e3fa9120b06824b634342fc6cba58109" -uuid = "546b0b6d-9ca3-5ba2-8705-1bc1841d8479" -version = "1.6.8+5" - -[[XML2_jll]] -deps = ["Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] -git-tree-sha1 = "39a309feb51413d39bdf544cf2fd09357bae37d2" -uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a" -version = "2.9.9+2" - -[[XSLT_jll]] -deps = ["Libdl", "Libgcrypt_jll", "Pkg", "XML2_jll"] -git-tree-sha1 = "d0baa21427b6621126bd9e9941b4f51bef5f9fca" -uuid = "aed1982a-8fda-507f-9586-7b0439959a61" -version = "1.1.33+1" - -[[Xorg_fixesproto_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "101dcd548d6021b8d3cdaeb66c65c0d85faf1bcb" -uuid = "cf2f014d-5496-555f-b295-889ac9dfddaa" -version = "5.0.0+0" - -[[Xorg_inputproto_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "6f05096d08266571e6214fd2525f3e78b2c63060" -uuid = "84d6cd60-beca-5f49-93c5-789031781a2d" -version = "2.3.2+1" - -[[Xorg_libX11_jll]] -deps = ["Libdl", "Pkg", "Xorg_libxcb_jll", "Xorg_xtrans_jll"] -git-tree-sha1 = "b04e87c6b8a7f80aa9f8239dd5d23bb3324728fa" -uuid = "4f6342f7-b3d2-589e-9d20-edeb45f2b2bc" -version = "1.6.9+1" - -[[Xorg_libXau_jll]] -deps = ["Libdl", "Pkg", "Xorg_xproto_jll"] -git-tree-sha1 = "711f2bbdbb0e90b90a71c5ccf835137e2def539a" -uuid = "0c0b7dd1-d40b-584c-a123-a41640f87eec" -version = "1.0.9+2" - -[[Xorg_libXcursor_jll]] -deps = ["Libdl", "Pkg", "Xorg_libXfixes_jll", "Xorg_libXrender_jll", "Xorg_util_macros_jll"] -git-tree-sha1 = "2a5883ed563bd0da8976449ea31bba8a922a13c4" -uuid = "935fb764-8cf2-53bf-bb30-45bb1f8bf724" -version = "1.2.0+1" - -[[Xorg_libXdmcp_jll]] -deps = ["Libdl", "Pkg", "Xorg_util_macros_jll", "Xorg_xproto_jll"] -git-tree-sha1 = "1ffd7bc9c9d8bba6652516f3402ee1ef5f4cac70" -uuid = "a3789734-cfe1-5b06-b2d0-1dd0d9d62d05" -version = "1.1.3+2" - -[[Xorg_libXext_jll]] -deps = ["Libdl", "Pkg", "Xorg_libX11_jll", "Xorg_util_macros_jll", "Xorg_xextproto_jll"] -git-tree-sha1 = "43ff58a4d17cc9710bfadccaa7249f2e44c4b20b" -uuid = "1082639a-0dae-5f34-9b06-72781eeb8cb3" -version = "1.3.4+1" - -[[Xorg_libXfixes_jll]] -deps = ["Libdl", "Pkg", "Xorg_fixesproto_jll", "Xorg_libX11_jll", "Xorg_util_macros_jll"] -git-tree-sha1 = "ff358baf2b575c149d2115a6a1a2ca772868ee97" -uuid = "d091e8ba-531a-589c-9de9-94069b037ed8" -version = "5.0.3+1" - -[[Xorg_libXi_jll]] -deps = ["Libdl", "Pkg", "Xorg_inputproto_jll", "Xorg_libXext_jll", "Xorg_libXfixes_jll", "Xorg_util_macros_jll"] -git-tree-sha1 = "4ea59b9d391a81553d24d68b15dd191e8fe39afc" -uuid = "a51aa0fd-4e3c-5386-b890-e753decda492" -version = "1.7.10+1" - -[[Xorg_libXinerama_jll]] -deps = ["Libdl", "Pkg", "Xorg_libXext_jll", "Xorg_util_macros_jll", "Xorg_xineramaproto_jll"] -git-tree-sha1 = "fd650df461ecdd390f40d5d909e59e725d44f44c" -uuid = "d1454406-59df-5ea1-beac-c340f2130bc3" -version = "1.1.4+1" - -[[Xorg_libXrandr_jll]] -deps = ["Libdl", "Pkg", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Xorg_randrproto_jll", "Xorg_util_macros_jll"] -git-tree-sha1 = "eda897668a2a6757a75a46c866b753ad6840a75c" -uuid = "ec84b674-ba8e-5d96-8ba1-2a689ba10484" -version = "1.5.2+1" - -[[Xorg_libXrender_jll]] -deps = ["Libdl", "Pkg", "Xorg_libX11_jll", "Xorg_renderproto_jll"] -git-tree-sha1 = "84708092aaae22c33c120064a36f1853a2d99d94" -uuid = "ea2f1a96-1ddc-540d-b46f-429655e07cfa" -version = "0.9.10+1" - -[[Xorg_libpthread_stubs_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "ec1e2973e4e624069be95f806dbd7e225fee26c6" -uuid = "14d82f49-176c-5ed1-bb49-ad3f5cbd8c74" -version = "0.1.0+1" - -[[Xorg_libxcb_jll]] -deps = ["Libdl", "Pkg", "XSLT_jll", "Xorg_libXau_jll", "Xorg_libXdmcp_jll", "Xorg_libpthread_stubs_jll", "Xorg_util_macros_jll", "Xorg_xcb_proto_jll"] -git-tree-sha1 = "6f5c3e3d1e3201613f38c4042ca79521e3c0bb97" -uuid = "c7cfdc94-dc32-55de-ac96-5a1b8d977c5b" -version = "1.13.0+1" - -[[Xorg_randrproto_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "5c2f995614980bedaed7de97995f9a5e0f857bef" -uuid = "0e394dc1-71ae-5c65-abe5-8749687e42d3" -version = "1.5.0+0" - -[[Xorg_renderproto_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "ce13e67a75e2e6338500f22af11003823bf189b5" -uuid = "21e99dc2-7dba-5609-a726-b181bd3bbb6c" -version = "0.11.1+1" - -[[Xorg_util_macros_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "50c9763d05bdc0795a19877bae9274ada3e499d1" -uuid = "7c09cfe3-afe2-5798-bcc9-d6b7fecfdca5" -version = "1.19.2+1" - -[[Xorg_xcb_proto_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "c0817a62c2a53dd97469f1934e32461cedaf400d" -uuid = "c2e9c405-c068-5e7b-9b35-084fd074cae4" -version = "1.13.0+1" - -[[Xorg_xextproto_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "49ac1f9b3f5b775141690a64b40f401527996a76" -uuid = "d13bc2ba-d276-5c6f-8a1c-29ed04aab5d0" -version = "7.3.0+1" - -[[Xorg_xineramaproto_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "9f331b569a18a4fbf66ee8f60cb4018c73faabb4" -uuid = "6a3da44c-33b1-5374-838f-bf0fbf92c29b" -version = "1.2.1+0" - -[[Xorg_xproto_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "1528b6cef487b060c47bb5894824f30143489023" -uuid = "46797783-dccc-5433-be59-056c4bde8513" -version = "7.0.31+1" - -[[Xorg_xtrans_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "b6e7d70f5fc9e3fde505539194c8caaab3c40ebf" -uuid = "c5fb5394-a638-5e4d-96e5-b29de1b5cf10" -version = "1.4.0+1" - -[[Zlib_jll]] -deps = ["Libdl", "Pkg"] -git-tree-sha1 = "2f6c3e15e20e036ee0a0965879b31442b7ec50fa" -uuid = "83775a58-1f1d-513f-b197-d71354ab007a" -version = "1.2.11+9" - -[[ZygoteRules]] -deps = ["MacroTools"] -git-tree-sha1 = "b3b4882cc9accf6731a08cc39543fbc6b669dca8" -uuid = "700de1a5-db45-46bc-99cf-38207098b444" -version = "0.2.0" diff --git a/Project.toml b/Project.toml index e1efd98..6a7dcaf 100644 --- a/Project.toml +++ b/Project.toml @@ -1,7 +1,7 @@ name = "LyceumMuJoCo" uuid = "48b9757e-04b8-4dbf-b6ed-75c13d9e4026" authors = ["Colin Summers", "The Contributors of LyceumMuJoCo"] -version = "0.2.3" +version = "0.2.4" [deps] Distances = "b4f34e82-e78d-54a5-968a-f98e89d6e8f7" @@ -17,15 +17,9 @@ StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" [compat] -Distances = "0.8" -Distributions = "0.23" -DocStringExtensions = "0.8" LyceumBase = "0.2" MuJoCo = "0.3" -Reexport = "0.2" Shapes = "0.2" -StaticArrays = "0.12" -julia = "1.3" [extras] BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf" diff --git a/src/dmc/cartpole_swingup.jl b/src/dmc/cartpole_swingup.jl index 2d0fe2b..163ae0e 100644 --- a/src/dmc/cartpole_swingup.jl +++ b/src/dmc/cartpole_swingup.jl @@ -62,9 +62,9 @@ end @boundscheck checkaxes(obsspace(env), obs) sobs = obsspace(env)(obs) - sobs.pos.cart = env.sim.dn.qpos[:slider] - sobs.pos.pole_zz = env.sim.dn.xmat[:z, :z, :pole_1] - sobs.pos.pole_xz = env.sim.dn.xmat[:x, :z, :pole_1] + sobs.pos.cart = env.sim.dn.qpos[Val(:slider)] + sobs.pos.pole_zz = env.sim.dn.xmat[Val(:z), Val(:z), Val(:pole_1)] + sobs.pos.pole_xz = env.sim.dn.xmat[Val(:x), Val(:z), Val(:pole_1)] copyto!(sobs.vel, env.sim.d.qvel) obs end @@ -103,7 +103,7 @@ function reset!(env::CartpoleSwingup) reset_nofwd!(env.sim) qpos = env.sim.dn.qpos - qpos[:hinge_1] = pi + qpos[Val(:hinge_1)] = pi forward!(env.sim) @@ -114,8 +114,8 @@ function randreset!(rng::Random.AbstractRNG, env::CartpoleSwingup) reset_nofwd!(env.sim) qpos = env.sim.dn.qpos - qpos[:slider] = 0.01 * randn(rng) - qpos[:hinge_1] = pi + 0.01*randn(rng) + qpos[Val(:slider)] = 0.01 * randn(rng) + qpos[Val(:hinge_1)] = pi + 0.01*randn(rng) randn!(rng, env.sim.d.qvel) env.sim.d.qvel .*= 0.01 diff --git a/src/suite/pointmass.jl b/src/suite/pointmass.jl index e16f4ee..fa3c5ff 100644 --- a/src/suite/pointmass.jl +++ b/src/suite/pointmass.jl @@ -39,9 +39,9 @@ end dn = env.sim.dn shaped = obsspace(env)(obs) @inbounds begin - shaped.agent_xy_pos .= dn.xpos[:x, :agent], dn.xpos[:y, :agent] - shaped.agent_xy_vel .= dn.qvel[:agent_x], dn.qvel[:agent_y] - shaped.target_xy_pos .= dn.xpos[:x, :target], dn.xpos[:y, :target] + shaped.agent_xy_pos .= dn.xpos[Val(:x), Val(:agent)], dn.xpos[Val(:y), Val(:agent)] + shaped.agent_xy_vel .= dn.qvel[Val(:agent_x)], dn.qvel[Val(:agent_y)] + shaped.target_xy_pos .= dn.xpos[Val(:x), Val(:target)], dn.xpos[Val(:y), Val(:target)] end obs end @@ -65,10 +65,10 @@ end @propagate_inbounds function randreset!(rng::Random.AbstractRNG, env::PointMass) reset_nofwd!(env.sim) @inbounds begin - env.sim.dn.qpos[:agent_x] = rand(rng) * 2.0 - 1.0 - env.sim.dn.qpos[:agent_y] = rand(rng) * 2.0 - 1.0 - env.sim.dn.qpos[:target_x] = rand(rng) * 2.0 - 1.0 - env.sim.dn.qpos[:target_y] = rand(rng) * 2.0 - 1.0 + env.sim.dn.qpos[Val(:agent_x)] = rand(rng) * 2.0 - 1.0 + env.sim.dn.qpos[Val(:agent_y)] = rand(rng) * 2.0 - 1.0 + env.sim.dn.qpos[Val(:target_x)] = rand(rng) * 2.0 - 1.0 + env.sim.dn.qpos[Val(:target_y)] = rand(rng) * 2.0 - 1.0 end forward!(env.sim) env