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Porting Metaworld Bug Mitigations

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This commit is contained in:
Dominik Moritz Roth 2023-09-18 18:40:10 +02:00
parent 20510d8f68
commit 9ce040d110
1 changed files with 14 additions and 29 deletions
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43
fancy_gym/meta/metaworld_adapter.py
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@ -1,3 +1,4 @@
import random
from typing import Iterable, Type, Union, Optional from typing import Iterable, Type, Union, Optional
import numpy as np import numpy as np
@ -13,12 +14,10 @@ from fancy_gym.utils.env_compatibility import EnvCompatibility
try: try:
import metaworld import metaworld
except Exception: except Exception:
# catch Exception as Import error does not catch missing mujoco-py print('[FANCY GYM] Metaworld not avaible')
# TODO: Print info?
pass
class MujocoMapSpacesWrapper(gym.Wrapper, gym.utils.RecordConstructorArgs): class FixMetaworldHasIncorrectObsSpaceWrapper(gym.Wrapper, gym.utils.RecordConstructorArgs):
def __init__(self, env: gym.Env): def __init__(self, env: gym.Env):
gym.utils.RecordConstructorArgs.__init__(self) gym.utils.RecordConstructorArgs.__init__(self)
gym.Wrapper.__init__(self, env) gym.Wrapper.__init__(self, env)
@ -29,11 +28,11 @@ class MujocoMapSpacesWrapper(gym.Wrapper, gym.utils.RecordConstructorArgs):
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])
self.observation_space = Obs_Space_Class(low=eos.low, high=eos.high, dtype=eos.dtype) self.observation_space = Obs_Space_Class(low=eos.low-np.inf, high=eos.high+np.inf, dtype=eos.dtype)
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): class FixMetaworldIncorrectResetPathLengthWrapper(gym.Wrapper, gym.utils.RecordConstructorArgs):
def __init__(self, env: gym.Env): def __init__(self, env: gym.Env):
gym.utils.RecordConstructorArgs.__init__(self) gym.utils.RecordConstructorArgs.__init__(self)
gym.Wrapper.__init__(self, env) gym.Wrapper.__init__(self, env)
@ -50,13 +49,12 @@ class MitigateMetaworldBug(gym.Wrapper, gym.utils.RecordConstructorArgs):
return ret return ret
class MetaworldResetFix(gym.Wrapper, gym.utils.RecordConstructorArgs): class FixMetaworldIgnoresSeedOnResetWrapper(gym.Wrapper, gym.utils.RecordConstructorArgs):
def __init__(self, env: gym.Env): def __init__(self, env: gym.Env):
gym.utils.RecordConstructorArgs.__init__(self) gym.utils.RecordConstructorArgs.__init__(self)
gym.Wrapper.__init__(self, env) gym.Wrapper.__init__(self, env)
def reset(self, **kwargs): def reset(self, **kwargs):
self.env.reset(**kwargs)
if 'seed' in kwargs: if 'seed' in kwargs:
self.env.seed(kwargs['seed']) self.env.seed(kwargs['seed'])
return self.env.reset(**kwargs) return self.env.reset(**kwargs)
@ -66,32 +64,19 @@ def make_metaworld(underlying_id: str, seed: int = 1, render_mode: Optional[str]
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.')
_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, **kwargs)
# setting this avoids generating the same initialization after each reset # setting this avoids generating the same initialization after each reset
_env._freeze_rand_vec = False env._freeze_rand_vec = False
# New argument to use global seeding # New argument to use global seeding
_env.seeded_rand_vec = True env.seeded_rand_vec = True
max_episode_steps = _env.max_path_length
# TODO remove this as soon as there is support for the new API
_env = EnvCompatibility(_env, render_mode)
env = _env
# gym_id = '_metaworld_compat_' + uuid.uuid4().hex + '-v0'
# gym_register(
# id=gym_id,
# entry_point=lambda: _env,
# max_episode_steps=max_episode_steps,
# )
# 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 = MujocoMapSpacesWrapper(env)
# TODO remove, when this has been fixed upstream # TODO remove, when this has been fixed upstream
env = MitigateMetaworldBug(env) env = FixMetaworldHasIncorrectObsSpaceWrapper(env)
env = MetaworldResetFix(env) # TODO remove, when this has been fixed upstream
# env = FixMetaworldIncorrectResetPathLengthWrapper(env)
# TODO remove, when this has been fixed upstream
env = FixMetaworldIgnoresSeedOnResetWrapper(env)
return env return env