feat(SafeVelocity): update safety velocity tasks to v1 (#37)

safety_gymnasium/__init__.py

@@ -134,41 +134,81 @@ def combine(tasks, agents, max_episode_steps):
 # Safety Velocity
 # ----------------------------------------
 register(
-    id='SafetyHalfCheetahVelocity-v4',
-    entry_point='safety_gymnasium.tasks.safety_velocity.safety_half_cheetah_velocity:SafetyHalfCheetahVelocityEnv',
+    id='SafetyHalfCheetahVelocity-v0',
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_half_cheetah_velocity_v0:SafetyHalfCheetahVelocityEnv',
     max_episode_steps=1000,
     reward_threshold=4800.0,
 )
 
 register(
-    id='SafetyHopperVelocity-v4',
-    entry_point='safety_gymnasium.tasks.safety_velocity.safety_hopper_velocity:SafetyHopperVelocityEnv',
+    id='SafetyHopperVelocity-v0',
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_hopper_velocity_v0:SafetyHopperVelocityEnv',
     max_episode_steps=1000,
     reward_threshold=3800.0,
 )
 
 register(
-    id='SafetySwimmerVelocity-v4',
-    entry_point='safety_gymnasium.tasks.safety_velocity.safety_swimmer_velocity:SafetySwimmerVelocityEnv',
+    id='SafetySwimmerVelocity-v0',
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_swimmer_velocity_v0:SafetySwimmerVelocityEnv',
     max_episode_steps=1000,
     reward_threshold=360.0,
 )
 
 register(
-    id='SafetyWalker2dVelocity-v4',
+    id='SafetyWalker2dVelocity-v0',
     max_episode_steps=1000,
-    entry_point='safety_gymnasium.tasks.safety_velocity.safety_walker2d_velocity:SafetyWalker2dVelocityEnv',
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_walker2d_velocity_v0:SafetyWalker2dVelocityEnv',
 )
 
 register(
-    id='SafetyAntVelocity-v4',
-    entry_point='safety_gymnasium.tasks.safety_velocity.safety_ant_velocity:SafetyAntVelocityEnv',
+    id='SafetyAntVelocity-v0',
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_ant_velocity_v0:SafetyAntVelocityEnv',
     max_episode_steps=1000,
     reward_threshold=6000.0,
 )
 
 register(
-    id='SafetyHumanoidVelocity-v4',
-    entry_point='safety_gymnasium.tasks.safety_velocity.safety_humanoid_velocity:SafetyHumanoidVelocityEnv',
+    id='SafetyHumanoidVelocity-v0',
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_humanoid_velocity_v0:SafetyHumanoidVelocityEnv',
+    max_episode_steps=1000,
+)
+
+register(
+    id='SafetyHalfCheetahVelocity-v1',
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_half_cheetah_velocity_v1:SafetyHalfCheetahVelocityEnv',
+    max_episode_steps=1000,
+    reward_threshold=4800.0,
+)
+
+register(
+    id='SafetyHopperVelocity-v1',
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_hopper_velocity_v1:SafetyHopperVelocityEnv',
+    max_episode_steps=1000,
+    reward_threshold=3800.0,
+)
+
+register(
+    id='SafetySwimmerVelocity-v1',
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_swimmer_velocity_v1:SafetySwimmerVelocityEnv',
+    max_episode_steps=1000,
+    reward_threshold=360.0,
+)
+
+register(
+    id='SafetyWalker2dVelocity-v1',
+    max_episode_steps=1000,
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_walker2d_velocity_v1:SafetyWalker2dVelocityEnv',
+)
+
+register(
+    id='SafetyAntVelocity-v1',
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_ant_velocity_v1:SafetyAntVelocityEnv',
+    max_episode_steps=1000,
+    reward_threshold=6000.0,
+)
+
+register(
+    id='SafetyHumanoidVelocity-v1',
+    entry_point='safety_gymnasium.tasks.safety_velocity.safety_humanoid_velocity_v1:SafetyHumanoidVelocityEnv',
     max_episode_steps=1000,
 )

safety_gymnasium/tasks/safety_velocity/safety_ant_velocity_v1.py

@@ -0,0 +1,27 @@
+# Copyright 2022 Safety Gymnasium Team. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Ant environment with a safety constraint on velocity."""
+
+from safety_gymnasium.tasks.safety_velocity.safety_ant_velocity_v0 import (
+    SafetyAntVelocityEnv as AntEnv,
+)
+
+
+class SafetyAntVelocityEnv(AntEnv):
+    """Ant environment with a safety constraint on velocity."""
+
+    def __init__(self, **kwargs) -> None:
+        super().__init__(**kwargs)
+        self._velocity_threshold = 2.6222

safety_gymnasium/tasks/safety_velocity/safety_half_cheetah_velocity_v1.py

@@ -0,0 +1,27 @@
+# Copyright 2022 Safety Gymnasium Team. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""HalfCheetah environment with a safety constraint on velocity."""
+
+from safety_gymnasium.tasks.safety_velocity.safety_half_cheetah_velocity_v0 import (
+    SafetyHalfCheetahVelocityEnv as HalfCheetahEnv,
+)
+
+
+class SafetyHalfCheetahVelocityEnv(HalfCheetahEnv):
+    """HalfCheetah environment with a safety constraint on velocity."""
+
+    def __init__(self, **kwargs) -> None:
+        super().__init__(**kwargs)
+        self._velocity_threshold = 3.2096

safety_gymnasium/tasks/safety_velocity/safety_hopper_velocity_v1.py

@@ -0,0 +1,27 @@
+# Copyright 2022 Safety Gymnasium Team. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Hopper environment with a safety constraint on velocity."""
+
+from safety_gymnasium.tasks.safety_velocity.safety_hopper_velocity_v0 import (
+    SafetyHopperVelocityEnv as HopperEnv,
+)
+
+
+class SafetyHopperVelocityEnv(HopperEnv):
+    """Hopper environment with a safety constraint on velocity."""
+
+    def __init__(self, **kwargs) -> None:
+        super().__init__(**kwargs)
+        self._velocity_threshold = 0.7402

safety_gymnasium/tasks/safety_velocity/safety_humanoid_velocity_v1.py

@@ -0,0 +1,27 @@
+# Copyright 2022 Safety Gymnasium Team. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Humanoid environment with a safety constraint on velocity."""
+
+from safety_gymnasium.tasks.safety_velocity.safety_humanoid_velocity_v0 import (
+    SafetyHumanoidVelocityEnv as HumanoidEnv,
+)
+
+
+class SafetyHumanoidVelocityEnv(HumanoidEnv):
+    """Humanoid environment with a safety constraint on velocity."""
+
+    def __init__(self, **kwargs) -> None:
+        super().__init__(**kwargs)
+        self._velocity_threshold = 1.4149

safety_gymnasium/tasks/safety_velocity/safety_swimmer_velocity_v1.py

@@ -0,0 +1,71 @@
+# Copyright 2022 Safety Gymnasium Team. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Swimmer environment with a safety constraint on velocity."""
+
+import numpy as np
+
+from safety_gymnasium.tasks.safety_velocity.safety_swimmer_velocity_v0 import (
+    SafetySwimmerVelocityEnv as SwimmerEnv,
+)
+from safety_gymnasium.utils.task_utils import add_velocity_marker, clear_viewer
+
+
+class SafetySwimmerVelocityEnv(SwimmerEnv):
+    """Swimmer environment with a safety constraint on velocity."""
+
+    def __init__(self, **kwargs) -> None:
+        super().__init__(**kwargs)
+        self._velocity_threshold = 0.2282
+
+    def step(self, action):
+        xy_position_before = self.data.qpos[0:2].copy()
+        self.do_simulation(action, self.frame_skip)
+        xy_position_after = self.data.qpos[0:2].copy()
+
+        xy_velocity = (xy_position_after - xy_position_before) / self.dt
+        x_velocity, y_velocity = xy_velocity
+
+        forward_reward = self._forward_reward_weight * x_velocity
+
+        ctrl_cost = self.control_cost(action)
+
+        observation = self._get_obs()
+        reward = forward_reward - ctrl_cost
+        info = {
+            'reward_fwd': forward_reward,
+            'reward_ctrl': -ctrl_cost,
+            'x_position': xy_position_after[0],
+            'y_position': xy_position_after[1],
+            'distance_from_origin': np.linalg.norm(xy_position_after, ord=2),
+            'x_velocity': x_velocity,
+            'y_velocity': y_velocity,
+            'forward_reward': forward_reward,
+        }
+
+        velocity = np.sqrt(x_velocity**2 + y_velocity**2)
+        cost = float(x_velocity > self._velocity_threshold)
+
+        if self.viewer:
+            clear_viewer(self.viewer)
+            add_velocity_marker(
+                viewer=self.viewer,
+                pos=self.get_body_com('torso')[:3].copy(),
+                vel=velocity,
+                cost=cost,
+                velocity_threshold=self._velocity_threshold,
+            )
+        if self.render_mode == 'human':
+            self.render()
+        return observation, reward, cost, False, False, info

safety_gymnasium/tasks/safety_velocity/safety_walker2d_velocity_v1.py

@@ -0,0 +1,27 @@
+# Copyright 2022 Safety Gymnasium Team. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Walker2d environment with a safety constraint on velocity."""
+
+from safety_gymnasium.tasks.safety_velocity.safety_walker2d_velocity_v0 import (
+    SafetyWalker2dVelocityEnv as Walker2dEnv,
+)
+
+
+class SafetyWalker2dVelocityEnv(Walker2dEnv):
+    """Walker2d environment with a safety constraint on velocity."""
+
+    def __init__(self, **kwargs) -> None:
+        super().__init__(**kwargs)
+        self._velocity_threshold = 2.3415

safety_gymnasium/version.py

@@ -14,7 +14,7 @@
 # ==============================================================================
 """Safety-Gymnasium."""
 
-__version__ = '0.1.3'
+__version__ = '0.2.0'
 __license__ = 'Apache License, Version 2.0'
 __author__ = 'Safety Gymnasium Contributors'
 __release__ = False

tests/test_env.py

@@ -87,11 +87,12 @@ def test_run_env_render(agent_id, env_id, level, render_mode):
     agent_id=['Humanoid', 'Ant', 'Hopper', 'HalfCheetah', 'Swimmer', 'Walker2d'],
     env_id=['Velocity'],
     render_mode=['rgb_array', 'depth_array'],
+    version=['v0', 'v1'],
 )
 # pylint: disable-next=too-many-locals
-def test_velocity_env_render(agent_id, env_id, render_mode):
+def test_velocity_env_render(agent_id, env_id, render_mode, version):
     """Test env."""
-    env_name = 'Safety' + agent_id + env_id + '-v4'
+    env_name = 'Safety' + agent_id + env_id + '-' + version
     env = safety_gymnasium.make(env_name, render_mode=render_mode)
     obs, _ = env.reset()
     terminated, truncated = False, False
@@ -188,11 +189,12 @@ def test_run_env_render_list(agent_id, env_id, level, render_mode):
     agent_id=['Humanoid', 'Ant', 'Hopper', 'HalfCheetah', 'Swimmer', 'Walker2d'],
     env_id=['Velocity'],
     render_mode=['rgb_array_list', 'depth_array_list'],
+    version=['v0', 'v1'],
 )
 # pylint: disable-next=too-many-locals
-def test_velocity_env_render_list(agent_id, env_id, render_mode):
+def test_velocity_env_render_list(agent_id, env_id, render_mode, version):
     """Test env."""
-    env_name = 'Safety' + agent_id + env_id + '-v4'
+    env_name = 'Safety' + agent_id + env_id + '-' + version
     env = safety_gymnasium.make(env_name, render_mode=render_mode)
     obs, _ = env.reset()
     terminated, truncated = False, False