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Merge pull request #92 from D-o-d-o-x/fix_metaworld_rendering

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Fix: Metaworld not supporting rendering
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Dominik Roth 2024-02-10 09:24:50 +01:00 committed by GitHub
commit 3ccd839d16
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1 changed files with 20 additions and 5 deletions
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25
fancy_gym/meta/metaworld_adapter.py
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@ -51,28 +51,43 @@ class FixMetaworldIgnoresSeedOnResetWrapper(gym.Wrapper, gym.utils.RecordConstru
gym.Wrapper.__init__(self, env)
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:
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'])
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):
if underlying_id not in metaworld.ML1.ENV_NAMES:
raise ValueError(f'Specified environment "{underlying_id}" not present in metaworld ML1.')
env = metaworld.envs.ALL_V2_ENVIRONMENTS_GOAL_OBSERVABLE[underlying_id + "-goal-observable"](seed=seed, **kwargs)
env = metaworld.envs.ALL_V2_ENVIRONMENTS_GOAL_OBSERVABLE[underlying_id + "-goal-observable"](seed=seed, render_mode=render_mode, **kwargs)
# setting this avoids generating the same initialization after each reset
env._freeze_rand_vec = False
# New argument to use global seeding
env.seeded_rand_vec = True
# TODO remove, when this has been fixed upstream
env = FixMetaworldHasIncorrectObsSpaceWrapper(env)
# TODO remove, when this has been fixed upstream
# env = FixMetaworldIncorrectResetPathLengthWrapper(env)
# TODO remove, when this has been fixed upstream
env = FixMetaworldRenderOnStep(env)
env = FixMetaworldIgnoresSeedOnResetWrapper(env)
return env