use unwrapped env for context updates

Author: TheEimer

carl/envs/gymnasium/box2d/carl_bipedal_walker.py

@@ -114,14 +114,14 @@ def _update_context(self) -> None:
         gravity_y = self.context["GRAVITY_Y"]
 
         gravity = (gravity_x, gravity_y)
-        self.env.world.gravity = gravity
+        self.env.unwrapped.world.gravity = gravity
 
         # Important for building terrain
-        self.env.fd_polygon = fixtureDef(
+        self.env.unwrapped.fd_polygon = fixtureDef(
             shape=polygonShape(vertices=[(0, 0), (1, 0), (1, -1), (0, -1)]),
             friction=bipedal_walker.FRICTION,
         )
-        self.env.fd_edge = fixtureDef(
+        self.env.unwrapped.fd_edge = fixtureDef(
             shape=edgeShape(vertices=[(0, 0), (1, 1)]),
             friction=bipedal_walker.FRICTION,
             categoryBits=0x0001,
@@ -154,4 +154,4 @@ def _update_context(self) -> None:
             maskBits=0x001,
         )
 
-        self.env.world.gravity = gravity
+        self.env.unwrapped.world.gravity = gravity

carl/envs/gymnasium/box2d/carl_lunarlander.py

@@ -86,4 +86,4 @@ def _update_context(self) -> None:
         )
 
         gravity = vec2(float(gravity_x), float(gravity_y))
-        self.env.world.gravity = gravity
+        self.env.unwrapped.world.gravity = gravity

carl/envs/gymnasium/box2d/carl_vehicle_racing.py

@@ -221,4 +221,4 @@ def get_context_features() -> dict[str, ContextFeature]:
     def _update_context(self) -> None:
         self.env: CustomCarRacing
         vehicle_class_index = self.context["VEHICLE_ID"]
-        self.env.vehicle_class = PARKING_GARAGE[vehicle_class_index]
+        self.env.unwrapped.vehicle_class = PARKING_GARAGE[vehicle_class_index]

examples/demo_carracing.py

@@ -2,9 +2,7 @@
 Code adapted from gym.envs.box2d.car_racing.py
 """
 
-from typing import Any
 import numpy as np
-import gymnasium as gym
 import time
 import pygame
 from carl.envs.gymnasium.box2d.carl_vehicle_racing import (

examples/demo_heuristic_bipedalwalker.py

@@ -1,3 +1,5 @@
+from __future__ import annotations
+
 from carl.envs import CARLBipedalWalker
 from gymnasium.envs.box2d import bipedal_walker
 import numpy as np