[gym/common] Remove 'enforce_bounded_spaces' BaseJiminyEnv option by …

…lack of use-case.

python/gym_jiminy/common/gym_jiminy/common/envs/generic.py

@@ -120,7 +120,6 @@ class BaseJiminyEnv(InterfaceJiminyEnv[ObsT, ActT],
     def __init__(self,
                  simulator: Simulator,
                  step_dt: float,
-                 enforce_bounded_spaces: bool = False,
                  debug: bool = False,
                  render_mode: Optional[str] = None,
                  **kwargs: Any) -> None:
@@ -136,11 +135,6 @@ def __init__(self,
                      snapshot as an RGB array without showing it on the screen.
                      Optional: 'human' by default if available with the current
                      backend (or default if none), 'rgb_array' otherwise.
-        :param enforce_bounded_spaces:
-            Whether to enforce finite bounds for the observation and action
-            spaces. If so, then '\*_MAX' are used whenever it is necessary.
-            Note that whose bounds are very spread to make sure it is suitable
-            for the vast majority of systems.
         :param debug: Whether the debug mode must be enabled. Doing it enables
                       telemetry recording.
         :param render_mode: Desired rendering mode, ie "human" or "rgb_array".
@@ -194,7 +188,6 @@ def __init__(self,
         self.simulator: Simulator = simulator
         self._step_dt = step_dt
         self.render_mode = render_mode
-        self.enforce_bounded_spaces = enforce_bounded_spaces
         self.debug = debug
 
         # Define some proxies for fast access.
@@ -352,23 +345,6 @@ def _get_agent_state_space(
         position_limit_lower = self.robot.position_limit_lower
         velocity_limit = self.robot.velocity_limit
 
-        # Replace inf bounds of the state space if requested
-        if self.enforce_bounded_spaces:
-            if self.robot.has_freeflyer:
-                position_limit_lower[:3] = -FREEFLYER_POS_TRANS_MAX
-                position_limit_upper[:3] = +FREEFLYER_POS_TRANS_MAX
-                velocity_limit[:3] = FREEFLYER_VEL_LIN_MAX
-                velocity_limit[3:6] = FREEFLYER_VEL_ANG_MAX
-
-            for joint_index in self.robot.flexibility_joint_indices:
-                joint_velocity_index = (
-                    self.robot.pinocchio_model.joints[joint_index].idx_v)
-                velocity_limit[
-                    joint_velocity_index + np.arange(3)] = FLEX_VEL_ANG_MAX
-
-            if not model_options['joints']['enableVelocityLimit']:
-                velocity_limit[joint_velocity_indices] = JOINT_VEL_MAX
-
         # Deduce bounds associated the theoretical model from the extended one
         if use_theoretical_model:
             position_limit_lower, position_limit_upper = map(
@@ -479,32 +455,6 @@ def _get_measurements_space(self) -> spaces.Dict:
                 sensor_space_upper[effort.type][0, sensor_index] = (
                     command_limit[motor_velocity_index])
 
-        # Replace inf bounds of the imu sensor space
-        if self.enforce_bounded_spaces:
-            # Replace inf bounds of the contact sensor space
-            if contact.type in sensor_measurements.keys():
-                sensor_space_lower[contact.type][:] = -SENSOR_FORCE_MAX
-                sensor_space_upper[contact.type][:] = SENSOR_FORCE_MAX
-
-            # Replace inf bounds of the force sensor space
-            if force.type in sensor_measurements.keys():
-                sensor_space_lower[force.type][:3] = -SENSOR_FORCE_MAX
-                sensor_space_upper[force.type][:3] = SENSOR_FORCE_MAX
-                sensor_space_lower[force.type][3:] = -SENSOR_MOMENT_MAX
-                sensor_space_upper[force.type][3:] = SENSOR_MOMENT_MAX
-
-            # Replace inf bounds of the imu sensor space
-            if imu.type in sensor_measurements.keys():
-                gyro_index = [
-                    field.startswith('Gyro') for field in imu.fieldnames]
-                sensor_space_lower[imu.type][gyro_index] = -SENSOR_GYRO_MAX
-                sensor_space_upper[imu.type][gyro_index] = SENSOR_GYRO_MAX
-
-                accel_index = [
-                    field.startswith('Accel') for field in imu.fieldnames]
-                sensor_space_lower[imu.type][accel_index] = -SENSOR_ACCEL_MAX
-                sensor_space_upper[imu.type][accel_index] = SENSOR_ACCEL_MAX
-
         return spaces.Dict(OrderedDict(
             (key, spaces.Box(low=min_val, high=max_val, dtype=np.float64))
             for (key, min_val), max_val in zip(
@@ -524,15 +474,6 @@ def _initialize_action_space(self) -> None:
         # Get effort limit
         command_limit = self.robot.command_limit
 
-        # Replace inf bounds of the effort limit if requested
-        if self.enforce_bounded_spaces:
-            for motor_name in self.robot.motor_names:
-                motor = self.robot.get_motor(motor_name)
-                motor_options = motor.get_options()
-                if not motor_options["enableCommandLimit"]:
-                    command_limit[motor.joint_velocity_index] = \
-                        MOTOR_EFFORT_MAX
-
         # Set the action space
         action_scale = command_limit[self.robot.motor_velocity_indices]
         self.action_space = spaces.Box(

python/gym_jiminy/common/gym_jiminy/common/envs/locomotion.py

@@ -80,7 +80,6 @@ def __init__(self,
                  mesh_path_dir: Optional[str] = None,
                  simulation_duration_max: float = DEFAULT_SIMULATION_DURATION,
                  step_dt: float = DEFAULT_STEP_DT,
-                 enforce_bounded_spaces: bool = False,
                  reward_mixture: Optional[dict] = None,
                  std_ratio: Optional[dict] = None,
                  config_path: Optional[str] = None,
@@ -101,9 +100,6 @@ def __init__(self,
         :param simulation_duration_max: Maximum duration of a simulation before
                                         returning done.
         :param step_dt: Simulation timestep for learning.
-        :param enforce_bounded_spaces:
-            Whether to enforce finite bounds for the observation and action
-            spaces. If so, '\*_MAX' are used whenever it is necessary.
         :param reward_mixture: Weighting factors of selected contributions to
                                total reward.
         :param std_ratio: Relative standard deviation of selected contributions
@@ -206,8 +202,7 @@ def __init__(self,
             simulator.import_options(config_path)
 
         # Initialize base class
-        super().__init__(
-            simulator, step_dt, enforce_bounded_spaces, debug, **kwargs)
+        super().__init__(simulator, step_dt, debug, **kwargs)
 
     def _setup(self) -> None:
         """Configure the environment.

python/gym_jiminy/envs/gym_jiminy/envs/ant.py

@@ -66,8 +66,7 @@ def __init__(self, debug: bool = False, **kwargs: Any) -> None:
             simulator=simulator,
             debug=debug,
             **{**dict(
-                step_dt=STEP_DT,
-                enforce_bounded_spaces=False),
+                step_dt=STEP_DT),
                 **kwargs})
 
         # Define observation slices proxy for fast access.