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Fix: add mujoco render arguments to init (#2891)

Browse Source 
* fix: add render_mode getter to Wrappers

* fix: add render args to mujoco init

* reformat

* add type hints
This commit is contained in:
Omar Younis
2022-06-16 18:29:50 +02:00
committed by GitHub
parent f2aeb823f7
commit a7e1861f5c
29 changed files with 88 additions and 151 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
gym/envs/mujoco/ant.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -7,9 +5,9 @@ from gym.envs.mujoco import mujoco_env
class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
mujoco_env.MujocoEnv.__init__(
self, "ant.xml", 5, render_mode=render_mode, mujoco_bindings="mujoco_py"
self, "ant.xml", 5, mujoco_bindings="mujoco_py", **kwargs
)
utils.EzPickle.__init__(self)

8
gym/envs/mujoco/ant_v3.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -13,7 +11,6 @@ DEFAULT_CAMERA_CONFIG = {
class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
xml_file="ant.xml",
ctrl_cost_weight=0.5,
contact_cost_weight=5e-4,
@@ -23,6 +20,7 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
contact_force_range=(-1.0, 1.0),
reset_noise_scale=0.1,
exclude_current_positions_from_observation=True,
**kwargs
):
utils.EzPickle.__init__(**locals())
@@ -41,7 +39,9 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
exclude_current_positions_from_observation
)
mujoco_env.MujocoEnv.__init__(self, xml_file, 5, mujoco_bindings="mujoco_py")
mujoco_env.MujocoEnv.__init__(
self, xml_file, 5, mujoco_bindings="mujoco_py", **kwargs
)
@property
def healthy_reward(self):

6
gym/envs/mujoco/ant_v4.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -166,7 +164,6 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
xml_file="ant.xml",
ctrl_cost_weight=0.5,
use_contact_forces=False,
@@ -177,6 +174,7 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
contact_force_range=(-1.0, 1.0),
reset_noise_scale=0.1,
exclude_current_positions_from_observation=True,
**kwargs
):
utils.EzPickle.__init__(**locals())
@@ -197,7 +195,7 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
exclude_current_positions_from_observation
)
mujoco_env.MujocoEnv.__init__(self, xml_file, 5, render_mode=render_mode)
mujoco_env.MujocoEnv.__init__(self, xml_file, 5, **kwargs)
@property
def healthy_reward(self):

10
gym/envs/mujoco/half_cheetah.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -7,13 +5,9 @@ from gym.envs.mujoco import mujoco_env
class HalfCheetahEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
mujoco_env.MujocoEnv.__init__(
self,
"half_cheetah.xml",
5,
render_mode=render_mode,
mujoco_bindings="mujoco_py",
self, "half_cheetah.xml", 5, mujoco_bindings="mujoco_py", **kwargs
)
utils.EzPickle.__init__(self)

6
gym/envs/mujoco/half_cheetah_v3.py
View File

@@ -1,7 +1,5 @@
__credits__ = ["Rushiv Arora"]
from typing import Optional
import numpy as np
from gym import utils
@@ -15,12 +13,12 @@ DEFAULT_CAMERA_CONFIG = {
class HalfCheetahEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
xml_file="half_cheetah.xml",
forward_reward_weight=1.0,
ctrl_cost_weight=0.1,
reset_noise_scale=0.1,
exclude_current_positions_from_observation=True,
**kwargs
):
utils.EzPickle.__init__(**locals())
@@ -35,7 +33,7 @@ class HalfCheetahEnv(mujoco_env.MujocoEnv, utils.EzPickle):
)
mujoco_env.MujocoEnv.__init__(
self, xml_file, 5, render_mode=render_mode, mujoco_bindings="mujoco_py"
self, xml_file, 5, mujoco_bindings="mujoco_py", **kwargs
)
def control_cost(self, action):

8
gym/envs/mujoco/half_cheetah_v4.py
View File

@@ -1,7 +1,5 @@
__credits__ = ["Rushiv Arora"]
from typing import Optional
import numpy as np
from gym import utils
@@ -151,11 +149,11 @@ class HalfCheetahEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
forward_reward_weight=1.0,
ctrl_cost_weight=0.1,
reset_noise_scale=0.1,
exclude_current_positions_from_observation=True,
**kwargs
):
utils.EzPickle.__init__(**locals())
@@ -169,9 +167,7 @@ class HalfCheetahEnv(mujoco_env.MujocoEnv, utils.EzPickle):
exclude_current_positions_from_observation
)
mujoco_env.MujocoEnv.__init__(
self, "half_cheetah.xml", 5, render_mode=render_mode
)
mujoco_env.MujocoEnv.__init__(self, "half_cheetah.xml", 5, **kwargs)
def control_cost(self, action):
control_cost = self._ctrl_cost_weight * np.sum(np.square(action))

6
gym/envs/mujoco/hopper.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -7,9 +5,9 @@ from gym.envs.mujoco import mujoco_env
class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
mujoco_env.MujocoEnv.__init__(
self, "hopper.xml", 4, render_mode=render_mode, mujoco_bindings="mujoco_py"
self, "hopper.xml", 4, mujoco_bindings="mujoco_py", **kwargs
)
utils.EzPickle.__init__(self)

6
gym/envs/mujoco/hopper_v3.py
View File

@@ -1,7 +1,5 @@
__credits__ = ["Rushiv Arora"]
from typing import Optional
import numpy as np
from gym import utils
@@ -18,7 +16,6 @@ DEFAULT_CAMERA_CONFIG = {
class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
xml_file="hopper.xml",
forward_reward_weight=1.0,
ctrl_cost_weight=1e-3,
@@ -29,6 +26,7 @@ class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
healthy_angle_range=(-0.2, 0.2),
reset_noise_scale=5e-3,
exclude_current_positions_from_observation=True,
**kwargs
):
utils.EzPickle.__init__(**locals())
@@ -50,7 +48,7 @@ class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
)
mujoco_env.MujocoEnv.__init__(
self, xml_file, 4, render_mode=render_mode, mujoco_bindings="mujoco_py"
self, xml_file, 4, mujoco_bindings="mujoco_py", **kwargs
)
@property

6
gym/envs/mujoco/hopper_v4.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -142,7 +140,6 @@ class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
forward_reward_weight=1.0,
ctrl_cost_weight=1e-3,
healthy_reward=1.0,
@@ -152,6 +149,7 @@ class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
healthy_angle_range=(-0.2, 0.2),
reset_noise_scale=5e-3,
exclude_current_positions_from_observation=True,
**kwargs
):
utils.EzPickle.__init__(**locals())
@@ -172,7 +170,7 @@ class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
exclude_current_positions_from_observation
)
mujoco_env.MujocoEnv.__init__(self, "hopper.xml", 4, render_mode=render_mode)
mujoco_env.MujocoEnv.__init__(self, "hopper.xml", 4, **kwargs)
@property
def healthy_reward(self):

10
gym/envs/mujoco/humanoid.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -13,13 +11,9 @@ def mass_center(model, sim):
class HumanoidEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
mujoco_env.MujocoEnv.__init__(
self,
"humanoid.xml",
5,
render_mode=render_mode,
mujoco_bindings="mujoco_py",
self, "humanoid.xml", 5, mujoco_bindings="mujoco_py", **kwargs
)
utils.EzPickle.__init__(self)

6
gym/envs/mujoco/humanoid_v3.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -22,7 +20,6 @@ def mass_center(model, sim):
class HumanoidEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
xml_file="humanoid.xml",
forward_reward_weight=1.25,
ctrl_cost_weight=0.1,
@@ -33,6 +30,7 @@ class HumanoidEnv(mujoco_env.MujocoEnv, utils.EzPickle):
healthy_z_range=(1.0, 2.0),
reset_noise_scale=1e-2,
exclude_current_positions_from_observation=True,
**kwargs
):
utils.EzPickle.__init__(**locals())
@@ -51,7 +49,7 @@ class HumanoidEnv(mujoco_env.MujocoEnv, utils.EzPickle):
)
mujoco_env.MujocoEnv.__init__(
self, xml_file, 5, render_mode=render_mode, mujoco_bindings="mujoco_py"
self, xml_file, 5, mujoco_bindings="mujoco_py", **kwargs
)
@property

6
gym/envs/mujoco/humanoid_v4.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -206,7 +204,6 @@ class HumanoidEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
forward_reward_weight=1.25,
ctrl_cost_weight=0.1,
healthy_reward=5.0,
@@ -214,6 +211,7 @@ class HumanoidEnv(mujoco_env.MujocoEnv, utils.EzPickle):
healthy_z_range=(1.0, 2.0),
reset_noise_scale=1e-2,
exclude_current_positions_from_observation=True,
**kwargs
):
utils.EzPickle.__init__(**locals())
@@ -229,7 +227,7 @@ class HumanoidEnv(mujoco_env.MujocoEnv, utils.EzPickle):
exclude_current_positions_from_observation
)
mujoco_env.MujocoEnv.__init__(self, "humanoid.xml", 5, render_mode=render_mode)
mujoco_env.MujocoEnv.__init__(self, "humanoid.xml", 5, **kwargs)
@property
def healthy_reward(self):

10
gym/envs/mujoco/humanoidstandup.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -7,13 +5,9 @@ from gym.envs.mujoco import mujoco_env
class HumanoidStandupEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
mujoco_env.MujocoEnv.__init__(
self,
"humanoidstandup.xml",
5,
render_mode=render_mode,
mujoco_bindings="mujoco_py",
self, "humanoidstandup.xml", 5, mujoco_bindings="mujoco_py", **kwargs
)
utils.EzPickle.__init__(self)

8
gym/envs/mujoco/humanoidstandup_v4.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -192,10 +190,8 @@ class HumanoidStandupEnv(mujoco_env.MujocoEnv, utils.EzPickle):
"""
def __init__(self, render_mode: Optional[str] = None):
mujoco_env.MujocoEnv.__init__(
self, "humanoidstandup.xml", 5, render_mode=render_mode
)
def __init__(self, **kwargs):
mujoco_env.MujocoEnv.__init__(self, "humanoidstandup.xml", 5, **kwargs)
utils.EzPickle.__init__(self)
def _get_obs(self):

6
gym/envs/mujoco/inverted_double_pendulum.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -7,13 +5,13 @@ from gym.envs.mujoco import mujoco_env
class InvertedDoublePendulumEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
mujoco_env.MujocoEnv.__init__(
self,
"inverted_double_pendulum.xml",
5,
render_mode=render_mode,
mujoco_bindings="mujoco_py",
**kwargs
)
utils.EzPickle.__init__(self)

8
gym/envs/mujoco/inverted_double_pendulum_v4.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -120,10 +118,8 @@ class InvertedDoublePendulumEnv(mujoco_env.MujocoEnv, utils.EzPickle):
"""
def __init__(self, render_mode: Optional[str] = None):
mujoco_env.MujocoEnv.__init__(
self, "inverted_double_pendulum.xml", 5, render_mode=render_mode
)
def __init__(self, **kwargs):
mujoco_env.MujocoEnv.__init__(self, "inverted_double_pendulum.xml", 5, **kwargs)
utils.EzPickle.__init__(self)
def step(self, action):

10
gym/envs/mujoco/inverted_pendulum.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -7,14 +5,10 @@ from gym.envs.mujoco import mujoco_env
class InvertedPendulumEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
utils.EzPickle.__init__(self)
mujoco_env.MujocoEnv.__init__(
self,
"inverted_pendulum.xml",
2,
render_mode=render_mode,
mujoco_bindings="mujoco_py",
self, "inverted_pendulum.xml", 2, mujoco_bindings="mujoco_py", **kwargs
)
def step(self, a):

8
gym/envs/mujoco/inverted_pendulum_v4.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -92,11 +90,9 @@ class InvertedPendulumEnv(mujoco_env.MujocoEnv, utils.EzPickle):
"""
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
utils.EzPickle.__init__(self)
mujoco_env.MujocoEnv.__init__(
self, "inverted_pendulum.xml", 2, render_mode=render_mode
)
mujoco_env.MujocoEnv.__init__(self, "inverted_pendulum.xml", 2, **kwargs)
def step(self, a):
reward = 1.0

42
gym/envs/mujoco/mujoco_env.py
View File

@@ -1,4 +1,5 @@
from collections import OrderedDict
from functools import partial
from os import path
from typing import Optional
@@ -39,6 +40,10 @@ class MujocoEnv(gym.Env):
model_path,
frame_skip,
render_mode: Optional[str] = None,
width: int = DEFAULT_SIZE,
height: int = DEFAULT_SIZE,
camera_id: Optional[int] = None,
camera_name: Optional[str] = None,
mujoco_bindings="mujoco",
):
if model_path.startswith("/"):
@@ -106,7 +111,14 @@ class MujocoEnv(gym.Env):
self._set_action_space()
self.render_mode = render_mode
self.renderer = Renderer(self.render_mode, self._render)
render_frame = partial(
self._render,
width=width,
height=height,
camera_name=camera_name,
camera_id=camera_id,
)
self.renderer = Renderer(self.render_mode, render_frame)
action = self.action_space.sample()
observation, _reward, done, _info = self.step(action)
@@ -206,15 +218,23 @@ class MujocoEnv(gym.Env):
def render(
self,
mode="human",
width=DEFAULT_SIZE,
height=DEFAULT_SIZE,
camera_id=None,
camera_name=None,
mode: str = "human",
width: Optional[int] = None,
height: Optional[int] = None,
camera_id: Optional[int] = None,
camera_name: Optional[str] = None,
):
if self.render_mode is not None:
assert (
width is None
and height is None
and camera_id is None
and camera_name is None
), "Unexpected argument for render. Specify render arguments at environment initialization."
return self.renderer.get_renders()
else:
width = width if width is not None else DEFAULT_SIZE
height = height if height is not None else DEFAULT_SIZE
return self._render(
mode=mode,
width=width,
@@ -225,11 +245,11 @@ class MujocoEnv(gym.Env):
def _render(
self,
mode="human",
width=DEFAULT_SIZE,
height=DEFAULT_SIZE,
camera_id=None,
camera_name=None,
mode: str = "human",
width: int = DEFAULT_SIZE,
height: int = DEFAULT_SIZE,
camera_id: Optional[int] = None,
camera_name: Optional[str] = None,
):
assert mode in self.metadata["render_modes"]

6
gym/envs/mujoco/pusher.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -7,10 +5,10 @@ from gym.envs.mujoco import mujoco_env
class PusherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
utils.EzPickle.__init__(self)
mujoco_env.MujocoEnv.__init__(
self, "pusher.xml", 5, render_mode=render_mode, mujoco_bindings="mujoco_py"
self, "pusher.xml", 5, mujoco_bindings="mujoco_py", **kwargs
)
def step(self, a):

6
gym/envs/mujoco/pusher_v4.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -134,9 +132,9 @@ class PusherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
"""
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
utils.EzPickle.__init__(self)
mujoco_env.MujocoEnv.__init__(self, "pusher.xml", 5, render_mode=render_mode)
mujoco_env.MujocoEnv.__init__(self, "pusher.xml", 5, **kwargs)
def step(self, a):
vec_1 = self.get_body_com("object") - self.get_body_com("tips_arm")

6
gym/envs/mujoco/reacher.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -7,10 +5,10 @@ from gym.envs.mujoco import mujoco_env
class ReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
utils.EzPickle.__init__(self)
mujoco_env.MujocoEnv.__init__(
self, "reacher.xml", 2, render_mode=render_mode, mujoco_bindings="mujoco_py"
self, "reacher.xml", 2, mujoco_bindings="mujoco_py", **kwargs
)
def step(self, a):

6
gym/envs/mujoco/reacher_v4.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -124,9 +122,9 @@ class ReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
"""
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
utils.EzPickle.__init__(self)
mujoco_env.MujocoEnv.__init__(self, "reacher.xml", 2, render_mode=render_mode)
mujoco_env.MujocoEnv.__init__(self, "reacher.xml", 2, **kwargs)
def step(self, a):
vec = self.get_body_com("fingertip") - self.get_body_com("target")

6
gym/envs/mujoco/swimmer.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -7,9 +5,9 @@ from gym.envs.mujoco import mujoco_env
class SwimmerEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
mujoco_env.MujocoEnv.__init__(
self, "swimmer.xml", 4, render_mode=render_mode, mujoco_bindings="mujoco_py"
self, "swimmer.xml", 4, mujoco_bindings="mujoco_py", **kwargs
)
utils.EzPickle.__init__(self)

6
gym/envs/mujoco/swimmer_v3.py
View File

@@ -1,7 +1,5 @@
__credits__ = ["Rushiv Arora"]
from typing import Optional
import numpy as np
from gym import utils
@@ -13,12 +11,12 @@ DEFAULT_CAMERA_CONFIG = {}
class SwimmerEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
xml_file="swimmer.xml",
forward_reward_weight=1.0,
ctrl_cost_weight=1e-4,
reset_noise_scale=0.1,
exclude_current_positions_from_observation=True,
**kwargs
):
utils.EzPickle.__init__(**locals())
@@ -32,7 +30,7 @@ class SwimmerEnv(mujoco_env.MujocoEnv, utils.EzPickle):
)
mujoco_env.MujocoEnv.__init__(
self, xml_file, 4, render_mode=render_mode, mujoco_bindings="mujoco_py"
self, xml_file, 4, mujoco_bindings="mujoco_py", **kwargs
)
def control_cost(self, action):

6
gym/envs/mujoco/swimmer_v4.py
View File

@@ -1,7 +1,5 @@
__credits__ = ["Rushiv Arora"]
from typing import Optional
import numpy as np
from gym import utils
@@ -134,11 +132,11 @@ class SwimmerEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
forward_reward_weight=1.0,
ctrl_cost_weight=1e-4,
reset_noise_scale=0.1,
exclude_current_positions_from_observation=True,
**kwargs
):
utils.EzPickle.__init__(**locals())
@@ -151,7 +149,7 @@ class SwimmerEnv(mujoco_env.MujocoEnv, utils.EzPickle):
exclude_current_positions_from_observation
)
mujoco_env.MujocoEnv.__init__(self, "swimmer.xml", 4, render_mode=render_mode)
mujoco_env.MujocoEnv.__init__(self, "swimmer.xml", 4, **kwargs)
def control_cost(self, action):
control_cost = self._ctrl_cost_weight * np.sum(np.square(action))

10
gym/envs/mujoco/walker2d.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -7,13 +5,9 @@ from gym.envs.mujoco import mujoco_env
class Walker2dEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, render_mode: Optional[str] = None):
def __init__(self, **kwargs):
mujoco_env.MujocoEnv.__init__(
self,
"walker2d.xml",
4,
render_mode=render_mode,
mujoco_bindings="mujoco_py",
self, "walker2d.xml", 4, mujoco_bindings="mujoco_py", **kwargs
)
utils.EzPickle.__init__(self)

5
gym/envs/mujoco/walker2d_v3.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -16,7 +14,6 @@ DEFAULT_CAMERA_CONFIG = {
class Walker2dEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
xml_file="walker2d.xml",
forward_reward_weight=1.0,
ctrl_cost_weight=1e-3,
@@ -46,7 +43,7 @@ class Walker2dEnv(mujoco_env.MujocoEnv, utils.EzPickle):
)
mujoco_env.MujocoEnv.__init__(
self, xml_file, 4, render_mode=render_mode, mujoco_bindings="mujoco_py"
self, xml_file, 4, mujoco_bindings="mujoco_py", **kwargs
)
@property

6
gym/envs/mujoco/walker2d_v4.py
View File

@@ -1,5 +1,3 @@
from typing import Optional
import numpy as np
from gym import utils
@@ -160,7 +158,6 @@ class Walker2dEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(
self,
render_mode: Optional[str] = None,
forward_reward_weight=1.0,
ctrl_cost_weight=1e-3,
healthy_reward=1.0,
@@ -169,6 +166,7 @@ class Walker2dEnv(mujoco_env.MujocoEnv, utils.EzPickle):
healthy_angle_range=(-1.0, 1.0),
reset_noise_scale=5e-3,
exclude_current_positions_from_observation=True,
**kwargs
):
utils.EzPickle.__init__(**locals())
@@ -187,7 +185,7 @@ class Walker2dEnv(mujoco_env.MujocoEnv, utils.EzPickle):
exclude_current_positions_from_observation
)
mujoco_env.MujocoEnv.__init__(self, "walker2d.xml", 4, render_mode=render_mode)
mujoco_env.MujocoEnv.__init__(self, "walker2d.xml", 4, **kwargs)
@property
def healthy_reward(self):