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Merge branch 'master' into future

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This commit is contained in:
Dominik Moritz Roth 2024-02-10 11:19:04 +01:00
commit 107413ec75
1 changed files with 19 additions and 4 deletions
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23
fancy_gym/meta/metaworld_adapter.py
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@ -51,12 +51,29 @@ class FixMetaworldIgnoresSeedOnResetWrapper(gym.Wrapper, gym.utils.RecordConstru
gym.Wrapper.__init__(self, env) gym.Wrapper.__init__(self, env)
def reset(self, **kwargs): def reset(self, **kwargs):
print('[!] You just called .reset on a Metaworld env and supplied a seed. Metaworld curretly does not correctly implement seeding. Do not rely on deterministic behavior.')
if 'seed' in kwargs: if 'seed' in kwargs:
print('[!] You just called .reset on a Metaworld env and supplied a seed. Metaworld curretly does not correctly implement seeding. Do not rely on deterministic behavior.')
self.env.seed(kwargs['seed']) self.env.seed(kwargs['seed'])
return self.env.reset(**kwargs) return self.env.reset(**kwargs)
class FixMetaworldRenderOnStep(gym.Wrapper, gym.utils.RecordConstructorArgs):
def __init__(self, env: gym.Env):
gym.utils.RecordConstructorArgs.__init__(self)
gym.Wrapper.__init__(self, env)
self.render_active = False
def render(self, *args, **kwargs):
self.render_active = True
return self.env.render(*args, **kwargs)
def step(self, *args, **kwargs):
ret = self.env.step(*args, **kwargs)
if self.render_active:
self.env.render()
return ret
def make_metaworld(underlying_id: str, seed: int = 1, render_mode: Optional[str] = None, **kwargs): def make_metaworld(underlying_id: str, seed: int = 1, render_mode: Optional[str] = None, **kwargs):
if underlying_id not in metaworld.ML1.ENV_NAMES: if underlying_id not in metaworld.ML1.ENV_NAMES:
raise ValueError(f'Specified environment "{underlying_id}" not present in metaworld ML1.') raise ValueError(f'Specified environment "{underlying_id}" not present in metaworld ML1.')
@ -68,11 +85,9 @@ def make_metaworld(underlying_id: str, seed: int = 1, render_mode: Optional[str]
# New argument to use global seeding # New argument to use global seeding
env.seeded_rand_vec = True env.seeded_rand_vec = True
# TODO remove, when this has been fixed upstream
env = FixMetaworldHasIncorrectObsSpaceWrapper(env) env = FixMetaworldHasIncorrectObsSpaceWrapper(env)
# TODO remove, when this has been fixed upstream
# env = FixMetaworldIncorrectResetPathLengthWrapper(env) # env = FixMetaworldIncorrectResetPathLengthWrapper(env)
# TODO remove, when this has been fixed upstream env = FixMetaworldRenderOnStep(env)
env = FixMetaworldIgnoresSeedOnResetWrapper(env) env = FixMetaworldIgnoresSeedOnResetWrapper(env)
return env return env