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Add close. Fix rendering to conform with gym

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This commit is contained in:
Mustafa Enes Batur 2023-11-20 12:39:14 +01:00
parent 62fecda9d6
commit bedb4297f2
1 changed files with 10 additions and 3 deletions
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13
fancy_gym/envs/mujoco/air_hockey/air_hockey_env_wrapper.py
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@ -7,8 +7,6 @@ from fancy_gym.envs.mujoco.air_hockey import position_control_wrapper as positio
from fancy_gym.envs.mujoco.air_hockey.utils import robot_to_world from fancy_gym.envs.mujoco.air_hockey.utils import robot_to_world
from mushroom_rl.core import Environment from mushroom_rl.core import Environment
MAX_EPISODE_STEPS_AIRHOCKEY = 45000 # For a tournament env, the game can last up to 15 minutes
class AirHockeyEnv(Environment): class AirHockeyEnv(Environment):
metadata = {"render_modes": ["human"], "render_fps": 60} metadata = {"render_modes": ["human"], "render_fps": 60}
@ -84,6 +82,8 @@ class AirHockeyEnv(Environment):
self.env_info['env_name'] = self.env_name self.env_info['env_name'] = self.env_name
self.render_mode = render_mode self.render_mode = render_mode
self.render_human_active = False
super().__init__(self.base_env.info) super().__init__(self.base_env.info)
def step(self, action): def step(self, action):
@ -111,10 +111,14 @@ class AirHockeyEnv(Environment):
if self.env_info['env_name'] == "tournament": if self.env_info['env_name'] == "tournament":
obs = np.array(np.split(obs, 2)) obs = np.array(np.split(obs, 2))
if self.render_human_active:
self.base_env.render()
return obs, reward, done, False, info return obs, reward, done, False, info
def render(self): def render(self):
self.base_env.render() self.render_human_active = True
def reset(self, seed=None, options={}): def reset(self, seed=None, options={}):
self.base_env.seed(seed) self.base_env.seed(seed)
@ -146,6 +150,9 @@ class AirHockeyEnv(Environment):
@property @property
def unwrapped(self): def unwrapped(self):
return self return self
def close(self):
return
if __name__ == "__main__": if __name__ == "__main__":