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roboschool: updating envs to v1, fixing rendering (#112)

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Gal Novik
2018-11-18 13:38:10 +02:00
committed by GitHub
parent 9fd4d55623
commit e1fa6e9681
1 changed files with 5 additions and 5 deletions
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10
rl_coach/environments/gym_environment.py
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@@ -83,7 +83,7 @@ class GymVectorEnvironment(GymEnvironmentParameters):
gym_roboschool_envs = ['inverted_pendulum', 'inverted_pendulum_swingup', 'inverted_double_pendulum', 'reacher', gym_roboschool_envs = ['inverted_pendulum', 'inverted_pendulum_swingup', 'inverted_double_pendulum', 'reacher',
'hopper', 'walker2d', 'half_cheetah', 'ant', 'humanoid', 'humanoid_flagrun', 'hopper', 'walker2d', 'half_cheetah', 'ant', 'humanoid', 'humanoid_flagrun',
'humanoid_flagrun_harder', 'pong'] 'humanoid_flagrun_harder', 'pong']
roboschool_v0 = {e: "{}".format(lower_under_to_upper(e) + '-v0') for e in gym_roboschool_envs} roboschool_v1 = {e: "Roboschool{}".format(lower_under_to_upper(e) + '-v1') for e in gym_roboschool_envs}
# Mujoco # Mujoco
gym_mujoco_envs = ['inverted_pendulum', 'inverted_double_pendulum', 'reacher', 'hopper', 'walker2d', 'half_cheetah', gym_mujoco_envs = ['inverted_pendulum', 'inverted_double_pendulum', 'reacher', 'hopper', 'walker2d', 'half_cheetah',
@@ -280,6 +280,7 @@ class GymEnvironment(Environment):
# frame skip and max between consecutive frames # frame skip and max between consecutive frames
self.is_robotics_env = 'robotics' in str(self.env.unwrapped.__class__) self.is_robotics_env = 'robotics' in str(self.env.unwrapped.__class__)
self.is_mujoco_env = 'mujoco' 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__) self.is_atari_env = 'Atari' in str(self.env.unwrapped.__class__)
self.timelimit_env_wrapper = self.env self.timelimit_env_wrapper = self.env
if self.is_atari_env: if self.is_atari_env:
@@ -443,8 +444,7 @@ class GymEnvironment(Environment):
:param camera_idx: The index of the camera to use. Should be defined in the model :param camera_idx: The index of the camera to use. Should be defined in the model
:return: None :return: None
""" """
if self.env.unwrapped.viewer is not None and self.env.unwrapped.viewer.cam.fixedcamid != camera_idx and\ if self.env.unwrapped.viewer is not None and self.env.unwrapped.viewer.cam.fixedcamid != camera_idx:
self.env.unwrapped.viewer._ncam > camera_idx:
from mujoco_py.generated import const from mujoco_py.generated import const
self.env.unwrapped.viewer.cam.type = const.CAMERA_FIXED self.env.unwrapped.viewer.cam.type = const.CAMERA_FIXED
self.env.unwrapped.viewer.cam.fixedcamid = camera_idx self.env.unwrapped.viewer.cam.fixedcamid = camera_idx
@@ -458,7 +458,7 @@ class GymEnvironment(Environment):
def _render(self): def _render(self):
self.env.render(mode='human') self.env.render(mode='human')
# required for setting up a fixed camera for mujoco # required for setting up a fixed camera for mujoco
if self.is_mujoco_env: if self.is_mujoco_env and not self.is_roboschool_env:
self._set_mujoco_camera(0) self._set_mujoco_camera(0)
def get_rendered_image(self): def get_rendered_image(self):
@@ -468,7 +468,7 @@ class GymEnvironment(Environment):
else: else:
image = self.env.render(mode='rgb_array') image = self.env.render(mode='rgb_array')
# required for setting up a fixed camera for mujoco # required for setting up a fixed camera for mujoco
if self.is_mujoco_env: if self.is_mujoco_env and not self.is_roboschool_env:
self._set_mujoco_camera(0) self._set_mujoco_camera(0)
return image return image