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Mitigation: Allow seeding Metaworld on reset

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This commit is contained in:
Dominik Moritz Roth 2023-08-28 16:18:18 +02:00
parent 6d80201a03
commit 15e1bdc218
1 changed files with 13 additions and 0 deletions
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13
fancy_gym/meta/metaworld_adapter.py
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@ -50,6 +50,18 @@ class MitigateMetaworldBug(gym.Wrapper, gym.utils.RecordConstructorArgs):
return ret
class MetaworldResetFix(gym.Wrapper, gym.utils.RecordConstructorArgs):
def __init__(self, env: gym.Env):
gym.utils.RecordConstructorArgs.__init__(self)
gym.Wrapper.__init__(self, env)
def reset(self, **kwargs):
ret = self.env.reset(**kwargs)
if 'seed' in kwargs:
self.env.seed(kwargs['seed'])
return ret
def make_metaworld(underlying_id: str, seed: int = 1, render_mode: Optional[str] = None, **kwargs):
if underlying_id not in metaworld.ML1.ENV_NAMES:
raise ValueError(f'Specified environment "{underlying_id}" not present in metaworld ML1.')
@ -79,6 +91,7 @@ def make_metaworld(underlying_id: str, seed: int = 1, render_mode: Optional[str]
env = MujocoMapSpacesWrapper(env)
# TODO remove, when this has been fixed upstream
env = MitigateMetaworldBug(env)
env = MetaworldResetFix(env)
return env