From 1bf2191987186c79ce6556dd434c5b1938de0cd7 Mon Sep 17 00:00:00 2001
From: klowrey <kendall.lowrey@gmail.com>
Date: Thu, 16 Sep 2021 10:53:30 -0700
Subject: [PATCH] removed unsafe_arrays and uviews

---
 Project.toml                       |  2 -
 src/LyceumMuJoCo.jl                |  1 -
 src/dmc/cartpole_swingup.jl        | 29 ++++--------
 src/gym/hopper-v2.jl               | 76 ++++++++++++------------------
 src/gym/swimmer-v2.jl              | 38 +++++----------
 src/gym/walker2d-v2.jl             | 66 +++++++++++---------------
 src/mjsim.jl                       | 12 ++---
 src/suite/armhand/armhandpickup.jl |  2 +-
 src/suite/pointmass.jl             | 14 ++----
 9 files changed, 91 insertions(+), 149 deletions(-)

diff --git a/Project.toml b/Project.toml
index 29e2ec9..e1efd98 100644
--- 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
index d1cc78f..39bc3cf 100644
--- 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
index 5e7f7ed..2d0fe2b 100644
--- 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)
@@ -97,7 +92,6 @@ end
     mean(upright) * small_control * small_velocity * centered
 end
 
-
 @inline function geteval(state, action, obs, env::CartpoleSwingup)
     @boundscheck begin
         checkaxes(obsspace(env), obs)
@@ -105,14 +99,11 @@ 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)
 
@@ -123,10 +114,8 @@ 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
@@ -134,4 +123,4 @@ function randreset!(rng::Random.AbstractRNG, env::CartpoleSwingup)
     forward!(env.sim)
 
     env
-end
\ No newline at end of file
+end
diff --git a/src/gym/hopper-v2.jl b/src/gym/hopper-v2.jl
index 2fe564a..8dcc116 100644
--- 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]
\ No newline at end of file
+@inline _torso_ang(shapedstate::ShapedView, ::HopperV2) = shapedstate.simstate.qpos[3]
diff --git a/src/gym/swimmer-v2.jl b/src/gym/swimmer-v2.jl
index f05f6a2..3b8b527 100644
--- a/src/gym/swimmer-v2.jl
+++ b/src/gym/swimmer-v2.jl
@@ -42,37 +42,30 @@ 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)
@@ -80,23 +73,18 @@ function getobs!(obs, env::SwimmerV2)
     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]
\ No newline at end of file
+@inline _torso_x(env::SwimmerV2) = env.sim.d.qpos[1]
diff --git a/src/gym/walker2d-v2.jl b/src/gym/walker2d-v2.jl
index 3f4e350..a77435c 100644
--- a/src/gym/walker2d-v2.jl
+++ b/src/gym/walker2d-v2.jl
@@ -45,21 +45,17 @@ end
 
 function getstate!(state, env::Walker2DV2)
     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::Walker2DV2, 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
 
@@ -69,7 +65,7 @@ end
 function getobs!(obs, env::Walker2DV2)
     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)
@@ -82,21 +78,17 @@ end
 function getreward(state, action, ::Any, env::Walker2DV2)
     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::Walker2DV2)
     checkaxes(statespace(env), state)
-    @uviews state begin
-        _torso_x(statespace(env)(state), env)
-    end
+    _torso_x(statespace(env)(state), env)
 end
 
 
@@ -124,24 +116,22 @@ end
 
 function isdone(state, ::Any, ::Any, env::Walker2DV2)
     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 = !(
-            height > 0.8
-            && height < 2.0
-            && abs(torso_ang) < 1.0
-        )
-        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 = !(
+             height > 0.8
+             && height < 2.0
+             && abs(torso_ang) < 1.0
+            )
+    done
 end
 
 @inline _torso_x(shapedstate::ShapedView, ::Walker2DV2) = shapedstate.simstate.qpos[1]
 @inline _torso_x(env::Walker2DV2) = env.sim.d.qpos[1]
 @inline _torso_height(shapedstate::ShapedView, ::Walker2DV2) = shapedstate.simstate.qpos[2]
-@inline _torso_ang(shapedstate::ShapedView, ::Walker2DV2) = shapedstate.simstate.qpos[3]
\ No newline at end of file
+@inline _torso_ang(shapedstate::ShapedView, ::Walker2DV2) = shapedstate.simstate.qpos[3]
diff --git a/src/mjsim.jl b/src/mjsim.jl
index a618530..17efca6 100644
--- a/src/mjsim.jl
+++ b/src/mjsim.jl
@@ -146,7 +146,7 @@ Copy the following state fields from `sim.d` into `state`:
 @propagate_inbounds function getstate!(state::RealVec, sim::MJSim)
     @boundscheck checkaxes(statespace(sim), state)
     shaped = statespace(sim)(state)
-    @uviews shaped begin _copyshaped!(shaped, sim.d) end
+    _copyshaped!(shaped, sim.d)
     state
 end
 
@@ -193,14 +193,14 @@ Copy the components of `state` to their respective fields in `sim.d`, namely:
     copystate!(sim, state)
     forward!(sim)
     shaped = statespace(sim)(state)
-    @uviews shaped begin copyto!(sim.d.qacc_warmstart, shaped.qacc_warmstart) end
+    copyto!(sim.d.qacc_warmstart, shaped.qacc_warmstart)
     sim
 end
 
 @propagate_inbounds function copystate!(sim::MJSim, state::RealVec)
     @boundscheck checkaxes(statespace(sim), state)
     shaped = @inbounds statespace(sim)(state)
-    @uviews shaped begin _copyshaped!(sim.d, shaped) end
+    _copyshaped!(sim.d, shaped)
     sim
 end
 
@@ -350,9 +350,9 @@ function masscenter(sim::MJSim)
     mcntr = zeros(SVector{3, Float64})
     mtotal = 0.0
     body_mass, xipos = sim.m.body_mass, sim.d.xipos
-    @uviews xipos for i=1:sim.m.nbody
+    for i=1:sim.m.nbody
         bmass = body_mass[i]
-        bodycom = SVector{3, Float64}(uview(xipos, :, i))
+        bodycom = SVector{3, Float64}(xipos[1,i],xipos[2,i],xipos[3,i])
         mcntr = mcntr + bmass * bodycom
         mtotal += bmass
     end
@@ -400,4 +400,4 @@ Return the current simulation time, in seconds, of `sim`. Equivalent to sim.d.ti
 Base.show(io::IO, ::MIME"text/plain", sim::Union{<:MJSim, Type{<:MJSim}}) = show(io, sim)
 Base.show(io::IO, sim::Union{<:MJSim, Type{<:MJSim}}) = print(io, "MJSim")
 
-@inline check_skip(skip) = skip > 0 || throw(ArgumentError("`skip` must be > 0"))
\ No newline at end of file
+@inline check_skip(skip) = skip > 0 || throw(ArgumentError("`skip` must be > 0"))
diff --git a/src/suite/armhand/armhandpickup.jl b/src/suite/armhand/armhandpickup.jl
index e9687a7..8288dd1 100644
--- a/src/suite/armhand/armhandpickup.jl
+++ b/src/suite/armhand/armhandpickup.jl
@@ -100,7 +100,7 @@ end
     pinky = SPoint3D(sx, env.pinky)
     goal = ball - env.goal
 
-    @uviews obs @inbounds begin
+    @inbounds begin
         shaped = obsspace(env)(obs)
 
         shaped.ball .= ball
diff --git a/src/suite/pointmass.jl b/src/suite/pointmass.jl
index eaf2249..e16f4ee 100644
--- a/src/suite/pointmass.jl
+++ b/src/suite/pointmass.jl
@@ -31,17 +31,14 @@ function tconstruct(::Type{PointMass}, N::Integer)
     Tuple(PointMass(s) for s in tconstruct(MJSim, N, modelpath, skip=1))
 end
 
-
 @inline getsim(env::PointMass) = env.sim
-
-
 @inline obsspace(env::PointMass) = env.obsspace
 
 @propagate_inbounds function getobs!(obs, env::PointMass)
     @boundscheck checkaxes(obsspace(env), obs)
     dn = env.sim.dn
     shaped = obsspace(env)(obs)
-    @uviews shaped @inbounds begin
+    @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]
@@ -49,25 +46,22 @@ end
     obs
 end
 
-
 @propagate_inbounds function getreward(::Any, ::Any, obs, env::PointMass)
     @boundscheck checkaxes(obsspace(env), obs)
     shaped = obsspace(env)(obs)
-    @uviews shaped @inbounds begin
+    @inbounds begin
         1.0 - euclidean(shaped.agent_xy_pos, shaped.target_xy_pos)
     end
 end
 
-
 @propagate_inbounds function geteval(::Any, ::Any, obs, env::PointMass)
     @boundscheck checkaxes(obsspace(env), obs)
     shaped = obsspace(env)(obs)
-    @uviews shaped @inbounds begin
+    @inbounds begin
         euclidean(shaped.agent_xy_pos, shaped.target_xy_pos)
     end
 end
 
-
 @propagate_inbounds function randreset!(rng::Random.AbstractRNG, env::PointMass)
     reset_nofwd!(env.sim)
     @inbounds begin
@@ -78,4 +72,4 @@ end
     end
     forward!(env.sim)
     env
-end
\ No newline at end of file
+end