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Moving the ugly_mitigation_for_metaworld_bug into the metaworld env wrapper

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Dominik Moritz Roth 2023-08-14 16:45:33 +02:00
parent f3ffa714cb
commit 5b99227fac
1 changed files with 20 additions and 1 deletions
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21
fancy_gym/meta/metaworld_adapter.py
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@ -24,7 +24,7 @@ class MujocoMapSpacesWrapper(gym.Wrapper, gym.utils.RecordConstructorArgs):
gym.Wrapper.__init__(self, env) gym.Wrapper.__init__(self, env)
eos = env.observation_space eos = env.observation_space
eas = env.observation_space eas = env.action_space
Obs_Space_Class = getattr(gym.spaces, str(eos.__class__).split("'")[1].split('.')[-1]) Obs_Space_Class = getattr(gym.spaces, str(eos.__class__).split("'")[1].split('.')[-1])
Act_Space_Class = getattr(gym.spaces, str(eas.__class__).split("'")[1].split('.')[-1]) Act_Space_Class = getattr(gym.spaces, str(eas.__class__).split("'")[1].split('.')[-1])
@ -33,6 +33,23 @@ class MujocoMapSpacesWrapper(gym.Wrapper, gym.utils.RecordConstructorArgs):
self.action_space = Act_Space_Class(low=eas.low, high=eas.high, dtype=eas.dtype) self.action_space = Act_Space_Class(low=eas.low, high=eas.high, dtype=eas.dtype)
class MitigateMetaworldBug(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)
head = self.env
try:
for i in range(16):
head.curr_path_length = 0
head = head.env
except:
pass
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.')
@ -60,6 +77,8 @@ def make_metaworld(underlying_id: str, seed: int = 1, render_mode: Optional[str]
# TODO enable checker when the incorrect dtype of obs and observation space are fixed by metaworld # TODO enable checker when the incorrect dtype of obs and observation space are fixed by metaworld
env = gym.make(gym_id, disable_env_checker=True) env = gym.make(gym_id, disable_env_checker=True)
env = MujocoMapSpacesWrapper(env) env = MujocoMapSpacesWrapper(env)
# TODO remove, when this has been fixed upstream
env = MitigateMetaworldBug(env)
return env return env