Various bug fixes.

core/src/utilities/Json.cc

@@ -56,7 +56,7 @@ namespace jiminy
     template<>
     Json::Value convertToJson<configHolder_t>(configHolder_t const & value)
     {
-        Json::Value root;
+        Json::Value root{Json::objectValue};
         AppendBoostVariantToJson visitor(root);
         for (auto const & option : value)
         {

python/gym_jiminy/common/gym_jiminy/common/bases/block_bases.py

@@ -55,8 +55,8 @@ def __init__(self,
         super().__init__(**kwargs)  # type: ignore[call-arg]
 
         # Refresh the observation and action spaces
-        self._refresh_observation_space()
-        self._refresh_action_space()
+        self._initialize_observation_space()
+        self._initialize_action_space()
 
         # Assertion(s) for type checker
         assert (self.observation_space is not None and
@@ -95,7 +95,7 @@ def _setup(self) -> None:
             state of the block.
         """
 
-    def _refresh_observation_space(self) -> None:
+    def _initialize_observation_space(self) -> None:
         """Configure the observation of the block.
 
         .. note::
@@ -105,7 +105,7 @@ def _refresh_observation_space(self) -> None:
         """
         raise NotImplementedError
 
-    def _refresh_action_space(self) -> None:
+    def _initialize_action_space(self) -> None:
         """Configure the action of the block.
 
         .. note::
@@ -150,7 +150,7 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
         # Initialize the block and observe interface
         super().__init__(*args, **kwargs)
 
-    def _refresh_action_space(self) -> None:
+    def _initialize_action_space(self) -> None:
         """Configure the action space of the observer.
 
         It does nothing but to return the action space of the environment
@@ -232,7 +232,7 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
         # Initialize the block and control interface
         super().__init__(*args, **kwargs)
 
-    def _refresh_observation_space(self) -> None:
+    def _initialize_observation_space(self) -> None:
         """Configure the observation space of the controller.
 
         It does nothing but to return the observation space of the environment
@@ -293,7 +293,7 @@ def get_fieldnames(self) -> FieldNested:
         monitor the internal state of the controller.
     """
 
-BaseControllerBlock._refresh_action_space.__doc__ = \
+BaseControllerBlock._initialize_action_space.__doc__ = \
     """Configure the action space of the controller.
 
     .. note::

python/gym_jiminy/common/gym_jiminy/common/bases/generic_bases.py

@@ -55,7 +55,7 @@ def get_observation(self) -> DataNested:
     # methods to override:
     # ----------------------------
 
-    def _refresh_observation_space(self) -> None:
+    def _initialize_observation_space(self) -> None:
         """Configure the observation space.
         """
         raise NotImplementedError
@@ -109,7 +109,7 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
     # methods to override:
     # ----------------------------
 
-    def _refresh_action_space(self) -> None:
+    def _initialize_action_space(self) -> None:
         """Configure the action space.
         """
         raise NotImplementedError

python/gym_jiminy/common/gym_jiminy/common/controllers/proportional_derivative.py

@@ -91,7 +91,7 @@ def __init__(self,
         # Initialize the controller
         super().__init__(env, update_ratio)
 
-    def _refresh_action_space(self) -> None:
+    def _initialize_action_space(self) -> None:
         """Configure the action space of the controller.
 
         The action spaces corresponds to the position and velocity of motors

python/gym_jiminy/common/gym_jiminy/common/envs/env_generic.py

@@ -180,8 +180,8 @@ def __init__(self,
         # Refresh the observation and action spaces.
         # Note that it is necessary to refresh the action space before the
         # observation one, since it may be useful to observe the action.
-        self._refresh_action_space()
-        self._refresh_observation_space()
+        self._initialize_action_space()
+        self._initialize_observation_space()
 
         # Assertion(s) for type checker
         assert (isinstance(self.observation_space, spaces.Space) and
@@ -256,7 +256,7 @@ def _get_state_space(self,
 
         This method is not meant to be overloaded in general since the
         definition of the state space is mostly consensual. One must rather
-        overload `_refresh_observation_space` to customize the observation
+        overload `_initialize_observation_space` to customize the observation
         space as a whole.
 
         :param use_theoretical_model: Whether to compute the state space
@@ -337,7 +337,7 @@ def _get_sensors_space(self) -> gym.Space:
         .. warning:
             This method is not meant to be overloaded in general since the
             definition of the sensor space is mostly consensual. One must
-            rather overload `_refresh_observation_space` to customize the
+            rather overload `_initialize_observation_space` to customize the
             observation space as a whole.
         """
         # Define some proxies for convenience
@@ -445,7 +445,7 @@ def _get_sensors_space(self) -> gym.Space:
             for (key, min_val), max_val in zip(
                 sensor_space_lower.items(), sensor_space_upper.values())))
 
-    def _refresh_action_space(self) -> None:
+    def _initialize_action_space(self) -> None:
         """Configure the action space of the environment.
 
         The action is a vector gathering the torques of the actuator of the
@@ -644,8 +644,11 @@ def reset(self,
         self.simulator.start(
             qpos, qvel, None, self.simulator.use_theoretical_model)
 
+        # Initialize shared buffers
+        self._initialize_buffers()
+
         # Update shared buffers
-        self._refresh_internal()
+        self._refresh_buffers()
 
         # Initialize the observer.
         # Note that it is responsible of refreshing the environment's
@@ -657,14 +660,14 @@ def reset(self,
             self.sensors_data)
 
         # Make sure the state is valid, otherwise there `refresh_observation`
-        # and `_refresh_observation_space` are probably inconsistent.
+        # and `_initialize_observation_space` are probably inconsistent.
         try:
             obs = clip(self.observation_space, self.get_observation())
         except (TypeError, ValueError) as e:
             raise RuntimeError(
                 "The observation computed by `refresh_observation` is "
                 "inconsistent with the observation space defined by "
-                "`_refresh_observation_space` at initialization.") from e
+                "`_initialize_observation_space` at initialization.") from e
 
         # Make sure there is no 'nan' value in observation
         for value in tree.flatten(obs):
@@ -753,7 +756,7 @@ def step(self,
         self.simulator.step(self.step_dt)
 
         # Update shared buffers
-        self._refresh_internal()
+        self._refresh_buffers()
 
         # Update the observer at the end of the step. Indeed, internally,
         # it is called at the beginning of the every integration steps,
@@ -1188,7 +1191,7 @@ def _setup(self) -> None:
         framesForwardKinematics(
             self.robot.pinocchio_model, self.robot.pinocchio_data, qpos)
 
-    def _refresh_observation_space(self) -> None:
+    def _initialize_observation_space(self) -> None:
         """Configure the observation of the environment.
 
         By default, the observation is a dictionary gathering the current
@@ -1277,17 +1280,42 @@ def _sample_state(self) -> Tuple[np.ndarray, np.ndarray]:
 
         return qpos, qvel
 
-    def _refresh_internal(self) -> None:
-        """Refresh internal buffers.
+    def _initialize_buffers(self) -> None:
+        """Initialize internal buffers for fast access to shared memory or to
+        avoid redundant computations.
+
+        .. note::
+            This method is called at `reset`, right after
+            `self.simulator.start`. At this point, the simulation is running
+            but `refresh_observation` has never been called, so that it can be
+            used to initialize buffers involving the engine state but required
+            to refresh the observation. Note that it is not appropriate to
+            initialize buffers that would be used by `compute_command`.
+
+        .. note::
+            Buffers requiring manual update must be refreshed using
+            `_refresh_buffers` method.
+        """
+
+    def _refresh_buffers(self) -> None:
+        """Refresh internal buffers that must be updated manually.
 
         .. note::
             This method is called right after every internal `engine.step`, so
             it is the right place to update shared data between `is_done` and
-            `compute_reward`. Be careful when using it to share data with
-            `refresh_observation`, but the later is called at `self.observe_dt`
-            update period, which the others are called at `self.step_dt` update
-            period. `self.observe_dt` is likely to different from `self.step`,
-            unless configured otherwise by overloading `_setup` method.
+            `compute_reward`.
+
+        .. note::
+            `_initialize_buffers` method can be used to initialize buffers that
+            may requires special care.
+
+        .. warning::
+            Be careful when using it to update buffers that are used by
+            `refresh_observation`. The later is called at `self.observe_dt`
+            update period, while the others are called at `self.step_dt` update
+            period. `self.observe_dt` is likely to be different from
+            `self.step_dt`, unless configured manually when overloading
+            `_setup` method.
         """
 
     def refresh_observation(self) -> None:  # type: ignore[override]
@@ -1337,6 +1365,12 @@ def compute_command(self,
         overloading this method to clip the action if necessary to make sure it
         does not violate the lower and upper bounds.
 
+        .. warning::
+            There is not good place to initialize buffers that are necessary to
+            compute the command. The only solution for now is to define
+            initialization inside this method itself, using the safeguard
+            `if not self.simulator.is_simulation_running:`.
+
         :param measure: Observation of the environment.
         :param action: Desired motors efforts.
         """

python/gym_jiminy/envs/gym_jiminy/envs/acrobot.py

@@ -126,7 +126,7 @@ def _setup(self) -> None:
         engine_options["stepper"]["dtMax"] = CONTROL_DT
         self.simulator.engine.set_options(engine_options)
 
-    def _refresh_observation_space(self) -> None:
+    def _initialize_observation_space(self) -> None:
         """Configure the observation of the environment.
 
         Only the state is observable, while by default, the current time,
@@ -149,7 +149,7 @@ def refresh_observation(self, *args: Any, **kwargs: Any) -> None:
         self.__state_view[0][:] = self.__state[0]
         self.__state_view[1][:] = self.__state[1]
 
-    def _refresh_action_space(self) -> None:
+    def _initialize_action_space(self) -> None:
         """Configure the action space of the environment.
 
         Replace the action space by its discrete representation depending on
@@ -158,7 +158,7 @@ def _refresh_action_space(self) -> None:
         if not self.continuous:
             self.action_space = gym.spaces.Discrete(len(self.AVAIL_CTRL))
         else:
-            super()._refresh_action_space()
+            super()._initialize_action_space()
 
     def _sample_state(self) -> Tuple[np.ndarray, np.ndarray]:
         """Returns a valid configuration and velocity for the robot.

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

@@ -102,7 +102,7 @@ def _sample_state(self) -> Tuple[np.ndarray, np.ndarray]:
 
         return qpos, qvel
 
-    def _refresh_observation_space(self) -> None:
+    def _initialize_observation_space(self) -> None:
         """ TODO: Write documentation.
 
         The observation space comprises:

python/gym_jiminy/envs/gym_jiminy/envs/cartpole.py

@@ -142,7 +142,7 @@ def _setup(self) -> None:
         engine_options["stepper"]["dtMax"] = CONTROL_DT
         self.simulator.engine.set_options(engine_options)
 
-    def _refresh_observation_space(self) -> None:
+    def _initialize_observation_space(self) -> None:
         """Configure the observation of the environment.
 
         Implement the official Gym cartpole-v1 action space. Only the state is
@@ -163,7 +163,7 @@ def _refresh_observation_space(self) -> None:
         self.observation_space = spaces.Box(
             low=-high, high=high, dtype=np.float64)
 
-    def _refresh_action_space(self) -> None:
+    def _initialize_action_space(self) -> None:
         """ TODO: Write documentation.
 
         Replace the action space by its discrete representation depending on
@@ -172,7 +172,7 @@ def _refresh_action_space(self) -> None:
         if not self.continuous:
             self.action_space = spaces.Discrete(len(self.AVAIL_CTRL))
         else:
-            super()._refresh_action_space()
+            super()._initialize_action_space()
 
     def _sample_state(self) -> Tuple[np.ndarray, np.ndarray]:
         """ TODO: Write documentation.

python/jiminy_py/src/jiminy_py/log.py

@@ -312,6 +312,8 @@ def build_robot_from_log(
     robot.initialize(urdf_path, has_freeflyer, mesh_package_dirs)
     robot.set_options(all_options["system"]["robot"])
     robot.pinocchio_model.loadFromString(pinocchio_model_str)
+    robot.pinocchio_data.loadFromString(
+        robot.pinocchio_model.createData().saveToString())
 
     return robot