removed unsafe_arrays and uviews

Lyceum · Sep 16, 2021 · 1bf2191 · 1bf2191
1 parent 3144694
commit 1bf2191
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Showing 9 changed files with 91 additions and 149 deletions.
diff --git a/Project.toml b/Project.toml
@@ -15,7 +15,6 @@ Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Shapes = "175de200-b73b-11e9-28b7-9b5b306cec37"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
-UnsafeArrays = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
 
 [compat]
 Distances = "0.8"
@@ -26,7 +25,6 @@ MuJoCo = "0.3"
 Reexport = "0.2"
 Shapes = "0.2"
 StaticArrays = "0.12"
-UnsafeArrays = "1"
 julia = "1.3"
 
 [extras]

diff --git a/src/LyceumMuJoCo.jl b/src/LyceumMuJoCo.jl
@@ -8,7 +8,6 @@ using LinearAlgebra
 using Random
 
 # 3rd party
-using UnsafeArrays
 using StaticArrays
 using Distributions
 using Reexport

diff --git a/src/dmc/cartpole_swingup.jl b/src/dmc/cartpole_swingup.jl
@@ -56,24 +56,19 @@ end
 
 
 @inline getsim(env::CartpoleSwingup) = env.sim
-
-
 @inline obsspace(env::CartpoleSwingup) = env.obsspace
 
 @inline function getobs!(obs, env::CartpoleSwingup)
     @boundscheck checkaxes(obsspace(env), obs)
 
-    @uviews obs begin
-        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]
-        copyto!(sobs.vel, env.sim.d.qvel)
-    end
+    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]
+    copyto!(sobs.vel, env.sim.d.qvel)
     obs
 end
 
-
 @inline function getreward(state, action, obs, env::CartpoleSwingup)
     @boundscheck begin
         checkaxes(statespace(env), state)
@@ -97,22 +92,18 @@ end
     mean(upright) * small_control * small_velocity * centered
 end
 
-
 @inline function geteval(state, action, obs, env::CartpoleSwingup)
     @boundscheck begin
         checkaxes(obsspace(env), obs)
     end
     obsspace(env)(obs).pos.pole_zz
 end
 
-
 function reset!(env::CartpoleSwingup)
     reset_nofwd!(env.sim)
 
     qpos = env.sim.dn.qpos
-    @uviews qpos begin
-        qpos[:hinge_1] = pi
-    end
+    qpos[:hinge_1] = pi
 
     forward!(env.sim)
 
@@ -123,15 +114,13 @@ function randreset!(rng::Random.AbstractRNG, env::CartpoleSwingup)
     reset_nofwd!(env.sim)
 
     qpos = env.sim.dn.qpos
-    @uviews qpos begin
-        qpos[:slider] = 0.01 * randn(rng)
-        qpos[:hinge_1] = pi + 0.01*randn(rng)
-    end
+    qpos[:slider] = 0.01 * randn(rng)
+    qpos[:hinge_1] = pi + 0.01*randn(rng)
 
     randn!(rng, env.sim.d.qvel)
     env.sim.d.qvel .*= 0.01
 
     forward!(env.sim)
 
     env
-end
+end
diff --git a/src/gym/hopper-v2.jl b/src/gym/hopper-v2.jl
@@ -41,37 +41,30 @@ function tconstruct(::Type{HopperV2}, n::Integer)
 end
 
 @inline getsim(env::HopperV2) = env.sim
-
-
 @inline statespace(env::HopperV2) = env.statespace
 
 function getstate!(state, env::HopperV2)
     checkaxes(statespace(env), state)
-    @uviews state begin
-        shaped = statespace(env)(state)
-        getstate!(shaped.simstate, env.sim)
-        shaped.last_torso_x = env.last_torso_x
-    end
+    shaped = statespace(env)(state)
+    getstate!(shaped.simstate, env.sim)
+    shaped.last_torso_x = env.last_torso_x
     state
 end
 
 function setstate!(env::HopperV2, state)
     checkaxes(statespace(env), state)
-    @uviews state begin
-        shaped = statespace(env)(state)
-        setstate!(env.sim, shaped.simstate)
-        env.last_torso_x = shaped.last_torso_x
-    end
+    shaped = statespace(env)(state)
+    setstate!(env.sim, shaped.simstate)
+    env.last_torso_x = shaped.last_torso_x
     env
 end
 
-
 @inline obsspace(env::HopperV2) = env.obsspace
 
 function getobs!(obs, env::HopperV2)
     checkaxes(obsspace(env), obs)
     qpos = env.sim.d.qpos
-    @views @uviews qpos obs begin
+    @views begin
         shaped = obsspace(env)(obs)
         copyto!(shaped.cropped_qpos, qpos[2:end])
         copyto!(shaped.qvel, env.sim.d.qvel)
@@ -80,28 +73,22 @@ function getobs!(obs, env::HopperV2)
     obs
 end
 
-
 function getreward(state, action, ::Any, env::HopperV2)
     checkaxes(statespace(env), state)
     checkaxes(actionspace(env), action)
-    @uviews state begin
-        shapedstate = statespace(env)(state)
-        alive_bonus = 1.0
-        reward = (_torso_x(shapedstate, env) - shapedstate.last_torso_x) / timestep(env)
-        reward += alive_bonus
-        reward -= 1e-3 * sum(x->x^2, action)
-        reward
-    end
+    shapedstate = statespace(env)(state)
+    alive_bonus = 1.0
+    reward = (_torso_x(shapedstate, env) - shapedstate.last_torso_x) / timestep(env)
+    reward += alive_bonus
+    reward -= 1e-3 * sum(x->x^2, action)
+    reward
 end
 
 function geteval(state, ::Any, ::Any, env::HopperV2)
     checkaxes(statespace(env), state)
-    @uviews state begin
-        _torso_x(statespace(env)(state), env)
-    end
+    _torso_x(statespace(env)(state), env)
 end
 
-
 function reset!(env::HopperV2)
     reset!(env.sim)
     env.last_torso_x = _torso_x(env)
@@ -117,7 +104,6 @@ function randreset!(rng::AbstractRNG, env::HopperV2)
     env
 end
 
-
 function step!(env::HopperV2)
     env.last_torso_x = _torso_x(env)
     step!(env.sim)
@@ -126,26 +112,24 @@ end
 
 function isdone(state, ::Any, ::Any, env::HopperV2)
     checkaxes(statespace(env), state)
-    @uviews state begin
-        shapedstate = statespace(env)(state)
-        torso_x = _torso_x(shapedstate, env)
-        height = _torso_height(shapedstate, env)
-        torso_ang = _torso_ang(shapedstate, env)
-        qpos = shapedstate.simstate.qpos
-        qvel = shapedstate.simstate.qvel
-
-        done = !(
-            all(isfinite, state)
-            && all(x->abs(x) < 100, uview(qpos, 3:length(qpos)))
-            && all(x->abs(x) < 100, uview(qvel))
-            && height > 0.7
-            && abs(torso_ang) < 0.2
-        )
-        done
-    end
+    shapedstate = statespace(env)(state)
+    torso_x = _torso_x(shapedstate, env)
+    height = _torso_height(shapedstate, env)
+    torso_ang = _torso_ang(shapedstate, env)
+    qpos = shapedstate.simstate.qpos
+    qvel = shapedstate.simstate.qvel
+
+    done = !(
+             all(isfinite, state)
+             && all(x->abs(x) < 100, view(qpos, 3:length(qpos)))
+             && all(x->abs(x) < 100, qvel)
+             && height > 0.7
+             && abs(torso_ang) < 0.2
+            )
+    done
 end
 
 @inline _torso_x(shapedstate::ShapedView, ::HopperV2) = shapedstate.simstate.qpos[1]
 @inline _torso_x(env::HopperV2) = env.sim.d.qpos[1]
 @inline _torso_height(shapedstate::ShapedView, ::HopperV2) = shapedstate.simstate.qpos[2]
-@inline _torso_ang(shapedstate::ShapedView, ::HopperV2) = shapedstate.simstate.qpos[3]
+@inline _torso_ang(shapedstate::ShapedView, ::HopperV2) = shapedstate.simstate.qpos[3]
diff --git a/src/gym/swimmer-v2.jl b/src/gym/swimmer-v2.jl
@@ -42,61 +42,49 @@ function tconstruct(::Type{SwimmerV2}, n::Integer)
 end
 
 @inline getsim(env::SwimmerV2) = env.sim
-
-
 @inline statespace(env::SwimmerV2) = env.statespace
 
 function getstate!(state, env::SwimmerV2)
     checkaxes(statespace(env), state)
-    @uviews state begin
-        shaped = statespace(env)(state)
-        getstate!(shaped.simstate, env.sim)
-        shaped.last_torso_x = env.last_torso_x
-    end
+    shaped = statespace(env)(state)
+    getstate!(shaped.simstate, env.sim)
+    shaped.last_torso_x = env.last_torso_x
     state
 end
 
 function setstate!(env::SwimmerV2, state)
     checkaxes(statespace(env), state)
-    @uviews state begin
-        shaped = statespace(env)(state)
-        setstate!(env.sim, shaped.simstate)
-        env.last_torso_x = shaped.last_torso_x
-    end
+    shaped = statespace(env)(state)
+    setstate!(env.sim, shaped.simstate)
+    env.last_torso_x = shaped.last_torso_x
     env
 end
 
-
 @inline obsspace(env::SwimmerV2) = env.obsspace
 
 function getobs!(obs, env::SwimmerV2)
     checkaxes(obsspace(env), obs)
     qpos = env.sim.d.qpos
-    @views @uviews obs qpos begin
+    @views begin
         shaped = obsspace(env)(obs)
         copyto!(shaped.qpos_cropped, qpos[3:end])
         copyto!(shaped.qvel, env.sim.d.qvel)
     end
     obs
 end
 
-
 function getreward(state, action, ::Any, env::SwimmerV2)
     checkaxes(statespace(env), state)
     checkaxes(actionspace(env), action)
-    @uviews state begin
-        shapedstate = statespace(env)(state)
-        reward_fwd = (_torso_x(shapedstate, env) - shapedstate.last_torso_x) / timestep(env)
-        reward_ctrl = -1e-4 * sum(x->x^2, action)
-        reward_fwd + reward_ctrl
-    end
+    shapedstate = statespace(env)(state)
+    reward_fwd = (_torso_x(shapedstate, env) - shapedstate.last_torso_x) / timestep(env)
+    reward_ctrl = -1e-4 * sum(x->x^2, action)
+    reward_fwd + reward_ctrl
 end
 
 function geteval(state, action, obs, env::SwimmerV2)
     checkaxes(statespace(env), state)
-    @uviews state begin
-        _torso_x(statespace(env)(state), env)
-    end
+    _torso_x(statespace(env)(state), env)
 end
 
 
@@ -122,4 +110,4 @@ function step!(env::SwimmerV2)
 end
 
 @inline _torso_x(shapedstate::ShapedView, ::SwimmerV2) = shapedstate.simstate.qpos[1]
-@inline _torso_x(env::SwimmerV2) = env.sim.d.qpos[1]
+@inline _torso_x(env::SwimmerV2) = env.sim.d.qpos[1]