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Fix: Did not correlcty pass render_mode to gym.make (as per new spec)

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Dominik Moritz Roth 2023-10-29 12:57:29 +01:00
parent d7ea1f80a0
commit e5a9aaff0b
1 changed files with 10 additions and 14 deletions
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24
fancy_gym/examples/examples_movement_primitives.py
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@ -16,7 +16,7 @@ def example_mp(env_name="fancy_ProMP/HoleReacher-v0", seed=1, iterations=1, rend
""" """
# Equivalent to gym, we have a make function which can be used to create environments. # Equivalent to gym, we have a make function which can be used to create environments.
# It takes care of seeding and enables the use of a variety of external environments using the gym interface. # It takes care of seeding and enables the use of a variety of external environments using the gym interface.
env = gym.make(env_name) env = gym.make(env_name, render_mode='human' if render else None)
returns = 0 returns = 0
# env.render(mode=None) # env.render(mode=None)
@ -26,14 +26,6 @@ def example_mp(env_name="fancy_ProMP/HoleReacher-v0", seed=1, iterations=1, rend
for i in range(iterations): for i in range(iterations):
if render and i % 1 == 0: if render and i % 1 == 0:
# This renders the full MP trajectory
# It is only required to call render() once in the beginning, which renders every consecutive trajectory.
# Resetting to no rendering, can be achieved by render(mode=None).
# It is also possible to change the mode multiple times when
# e.g. only every second trajectory should be displayed, such as here
# Just make sure the correct mode is set before executing the step.
env.render(mode="human")
else:
env.render() env.render()
# Now the action space is not the raw action but the parametrization of the trajectory generator, # Now the action space is not the raw action but the parametrization of the trajectory generator,
@ -65,14 +57,14 @@ def example_custom_mp(env_name="fancy_ProMP/Reacher5d-v0", seed=1, iterations=1,
""" """
# Changing the arguments of the black box env is possible by providing them to gym through mp_config_override. # Changing the arguments of the black box env is possible by providing them to gym through mp_config_override.
# E.g. here for way to many basis functions # E.g. here for way to many basis functions
env = gym.make(env_name, seed, mp_config_override={'basis_generator_kwargs': {'num_basis': 1000}}) env = gym.make(env_name, seed, mp_config_override={'basis_generator_kwargs': {'num_basis': 1000}}, render_mode='human' if render else None)
returns = 0 returns = 0
obs = env.reset() obs = env.reset()
# This time rendering every trajectory # This time rendering every trajectory
if render: if render:
env.render(mode="human") env.render()
# number of samples/full trajectories (multiple environment steps) # number of samples/full trajectories (multiple environment steps)
for i in range(iterations): for i in range(iterations):
@ -129,13 +121,14 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
# basis_generator_kwargs = {'basis_generator_type': 'rbf', # basis_generator_kwargs = {'basis_generator_type': 'rbf',
# 'num_basis': 5 # 'num_basis': 5
# } # }
env = fancy_gym.make_bb(env_id=base_env_id, wrappers=wrappers, black_box_kwargs={}, raw_env = gym.make(base_env_id, render_mode='human' if render else None)
env = fancy_gym.make_bb(env=raw_env, wrappers=wrappers, black_box_kwargs={},
traj_gen_kwargs=trajectory_generator_kwargs, controller_kwargs=controller_kwargs, traj_gen_kwargs=trajectory_generator_kwargs, controller_kwargs=controller_kwargs,
phase_kwargs=phase_generator_kwargs, basis_kwargs=basis_generator_kwargs, phase_kwargs=phase_generator_kwargs, basis_kwargs=basis_generator_kwargs,
seed=seed) seed=seed)
if render: if render:
env.render(mode="human") env.render()
rewards = 0 rewards = 0
obs = env.reset() obs = env.reset()
@ -152,7 +145,7 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
obs = env.reset() obs = env.reset()
if __name__ == '__main__': def main():
render = False render = False
# DMP # DMP
example_mp("fancy_DMP/HoleReacher-v0", seed=10, iterations=5, render=render) example_mp("fancy_DMP/HoleReacher-v0", seed=10, iterations=5, render=render)
@ -172,3 +165,6 @@ if __name__ == '__main__':
# Custom MP # Custom MP
example_fully_custom_mp(seed=10, iterations=1, render=render) example_fully_custom_mp(seed=10, iterations=1, render=render)
if __name__=='__main__':
main()