fix: gravity limits inverted

Makefile

@@ -40,6 +40,9 @@ install-dev:
 	$(PIP) install -e ".[dev, docs]"
 	pre-commit install
 
+install:
+	$(PIP) install -e .
+
 check-black:
 	$(BLACK)  carl test --check || :
 

carl/envs/__init__.py

@@ -4,10 +4,15 @@
 import warnings
 
 # Classic control is in gym and thus necessary for the base version to run
-from carl import envs
 from carl.envs.gymnasium import *
 
-__all__ = envs.gymnasium.__all__
+__all__ = [
+    "CARLAcrobot",
+    "CARLCartPole",
+    "CARLMountainCar",
+    "CARLMountainCarContinuous",
+    "CARLPendulum",
+]
 
 
 def check_spec(spec_name: str) -> bool:
@@ -39,28 +44,44 @@ def check_spec(spec_name: str) -> bool:
 if found:
     from carl.envs.gymnasium.box2d import *
 
-    __all__ += envs.gymnasium.box2d.__all__
+    __all__ += ["CARLBipedalWalker", "CARLLunarLander", "CARLVehicleRacing"]
 
 found = check_spec("brax")
 if found:
     from carl.envs.brax import *
 
-    __all__ += envs.brax.__all__
+    __all__ += [
+        "CARLBraxAnt",
+        "CARLBraxHalfcheetah",
+        "CARLBraxHopper",
+        "CARLBraxHumanoid",
+        "CARLBraxHumanoidStandup",
+        "CARLBraxInvertedDoublePendulum",
+        "CARLBraxInvertedPendulum",
+        "CARLBraxPusher",
+        "CARLBraxReacher",
+        "CARLBraxWalker2d",
+    ]
 
 found = check_spec("py4j")
 if found:
     from carl.envs.mario import *
 
-    __all__ += envs.mario.__all__
+    __all__ += ["CARLMarioEnv"]
 
 found = check_spec("dm_control")
 if found:
     from carl.envs.dmc import *
 
-    __all__ += envs.dmc.__all__
+    __all__ += [
+        "CARLDmcFingerEnv",
+        "CARLDmcFishEnv",
+        "CARLDmcQuadrupedEnv",
+        "CARLDmcWalkerEnv",
+    ]
 
 found = check_spec("distance")
 if found:
     from carl.envs.rna import *
 
-    __all__ += envs.rna.__all__
+    __all__ += ["CARLRnaDesignEnv"]

carl/envs/dmc/carl_dm_finger.py

@@ -13,7 +13,7 @@ class CARLDmcFingerEnv(CARLDmcEnv):
     def get_context_features() -> dict[str, ContextFeature]:
         return {
             "gravity": UniformFloatContextFeature(
-                "gravity", lower=-np.inf, upper=-0.1, default_value=-9.81
+                "gravity", lower=0.1, upper=np.inf, default_value=9.81
             ),
             "friction_torsional": UniformFloatContextFeature(
                 "friction_torsional", lower=0, upper=np.inf, default_value=1.0

carl/envs/dmc/carl_dm_fish.py

@@ -13,7 +13,7 @@ class CARLDmcFishEnv(CARLDmcEnv):
     def get_context_features() -> dict[str, ContextFeature]:
         return {
             "gravity": UniformFloatContextFeature(
-                "gravity", lower=-np.inf, upper=-0.1, default_value=-9.81
+                "gravity", lower=0.1, upper=np.inf, default_value=9.81
             ),
             "friction_torsional": UniformFloatContextFeature(
                 "friction_torsional", lower=0, upper=np.inf, default_value=1.0

carl/envs/dmc/carl_dm_quadruped.py

@@ -13,7 +13,7 @@ class CARLDmcQuadrupedEnv(CARLDmcEnv):
     def get_context_features() -> dict[str, ContextFeature]:
         return {
             "gravity": UniformFloatContextFeature(
-                "gravity", lower=-np.inf, upper=-0.1, default_value=-9.81
+                "gravity", lower=0.1, upper=np.inf, default_value=9.81
             ),
             "friction_torsional": UniformFloatContextFeature(
                 "friction_torsional", lower=0, upper=np.inf, default_value=1.0

carl/envs/dmc/carl_dm_walker.py

@@ -13,7 +13,7 @@ class CARLDmcWalkerEnv(CARLDmcEnv):
     def get_context_features() -> dict[str, ContextFeature]:
         return {
             "gravity": UniformFloatContextFeature(
-                "gravity", lower=-np.inf, upper=-0.1, default_value=-9.81
+                "gravity", lower=0.1, upper=np.inf, default_value=9.81
             ),
             "friction_torsional": UniformFloatContextFeature(
                 "friction_torsional", lower=0, upper=np.inf, default_value=1.0

carl/envs/dmc/dmc_tasks/utils.py

@@ -122,17 +122,21 @@ def adapt_context(xml_string: bytes, context: Context) -> bytes:
 
     # find option settings and override them if they exist, otherwise create new option
     option = mjcf.find(".//option")
+    import logging
+
     if option is None:
         option = etree.Element("option")
         mjcf.append(option)
 
     if "gravity" in context:
         gravity = option.get("gravity")
+        logging.info(gravity)
         if gravity is not None:
             g = gravity.split(" ")
             gravity = " ".join([g[0], g[1], str(-context["gravity"])])
         else:
-            gravity = " ".join(["0", "0", str(-context["gravity"])])
+            gravity = " ".join(["0", "0", f"{str(-context['gravity'])}"])
+        logging.info(gravity)
         option.set("gravity", gravity)
 
     if "wind_x" in context and "wind_y" in context and "wind_z" in context:

carl/envs/gymnasium/__init__.py

@@ -1,3 +1,8 @@
+# flake8: noqa: F401
+# Modular imports
+import importlib.util as iutil
+import warnings
+
 from carl.envs.gymnasium.classic_control import (
     CARLAcrobot,
     CARLCartPole,
@@ -13,3 +18,35 @@
     "CARLMountainCarContinuous",
     "CARLPendulum",
 ]
+
+
+def check_spec(spec_name: str) -> bool:
+    """Check if the spec is installed
+
+    Parameters
+    ----------
+    spec_name : str
+        Name of package that is necessary for the environment suite.
+
+    Returns
+    -------
+    bool
+        Whether the spec was found.
+    """
+    spec = iutil.find_spec(spec_name)
+    found = spec is not None
+    if not found:
+        with warnings.catch_warnings():
+            warnings.simplefilter("once")
+            warnings.warn(
+                f"Module {spec_name} not found. If you want to use these environments, please follow the installation guide."
+            )
+    return found
+
+
+# Environment loading
+found = check_spec("Box2D")
+if found:
+    from carl.envs.gymnasium.box2d import *
+
+    __all__ += ["CARLBipedalWalker", "CARLLunarLander", "CARLVehicleRacing"]