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fix for fetch rendering (#297)

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* fix for fetch rendering - removing code which was once required with older gym versions. images are now rendered correctly by default with the latest gym.

* fixing mujoco camera id failure
This commit is contained in:
Gal Leibovich
2019-04-21 17:37:14 +03:00
committed by GitHub
parent f14915cada
commit 9f625c197b
1 changed files with 1 additions and 29 deletions
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30
rl_coach/environments/gym_environment.py
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@@ -300,7 +300,6 @@ class GymEnvironment(Environment):
random.seed(self.seed)
# frame skip and max between consecutive frames
self.is_robotics_env = 'robotics' in str(self.env.unwrapped.__class__)
self.is_mujoco_env = 'mujoco' in str(self.env.unwrapped.__class__)
self.is_roboschool_env = 'roboschool' in str(self.env.unwrapped.__class__)
self.is_atari_env = 'Atari' in str(self.env.unwrapped.__class__)
@@ -485,38 +484,11 @@ class GymEnvironment(Environment):
# initialize the number of lives
self._update_ale_lives()
def _set_mujoco_camera(self, camera_idx: int):
"""
This function can be used to set the camera for rendering the mujoco simulator
:param camera_idx: The index of the camera to use. Should be defined in the model
:return: None
"""
if self.env.unwrapped.viewer is not None and self.env.unwrapped.viewer.cam.fixedcamid != camera_idx:
from mujoco_py.generated import const
self.env.unwrapped.viewer.cam.type = const.CAMERA_FIXED
self.env.unwrapped.viewer.cam.fixedcamid = camera_idx
def _get_robotics_image(self):
self.env.render()
image = self.env.unwrapped._get_viewer().read_pixels(1600, 900, depth=False)[::-1, :, :]
image = scipy.misc.imresize(image, (270, 480, 3))
return image
def _render(self):
self.env.render(mode='human')
# required for setting up a fixed camera for mujoco
if self.is_mujoco_env and not self.is_roboschool_env:
self._set_mujoco_camera(0)
def get_rendered_image(self):
if self.is_robotics_env:
# necessary for fetch since the rendered image is cropped to an irrelevant part of the simulator
image = self._get_robotics_image()
else:
image = self.env.render(mode='rgb_array')
# required for setting up a fixed camera for mujoco
if self.is_mujoco_env and not self.is_roboschool_env:
self._set_mujoco_camera(0)
image = self.env.render(mode='rgb_array')
return image
def get_target_success_rate(self) -> float: