Making all tests pass with Implement_for functionality. Enables support most gym/gymnasium versions #119
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…st unpickling. Better handling for future gym versions
… versions - adding an helper util to prioritize gymnasium import over gym - standardizing gym_registry_specs for robohive env registration - moving all self.np_random.randint to self.np_random.choice as its more standard across versions - bugfix in range specifications. high-low<0 for a few instances - Adding a buffer (*_) in step and forward to accommodate different number of entities returned - starting to use env.unwrapped instead of env.env..... - robustifying test_logger. It can effectively fish out the log names now
vikashplus
changed the title
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@vmoens @Vittorio-Caggiano @0wu -- Can I get a round of reviews on this features? |
vmoens
approved these changes
Nov 23, 2023
| @@ -38,7 +38,7 @@ | |||
| 'model_path': curr_dir+'/trifinger/trifinger_reorient.xml', | |||
| 'object_site_name': "object", | |||
| 'target_site_name': "target", | |||
| 'target_xyz_range': {'high':[.05, .05, 0.9], 'low':[-.05, -.05, 0.99]}, | |||
| 'target_xyz_range': {'high':[.05, .05, 0.99], 'low':[-.05, -.05, 0.9]}, | |||
| @@ -130,7 +133,7 @@ def _setup(self, | |||
| self._setup_rgb_encoders(self.visual_keys, device=None) | |||
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| # reset to get the env ready | |||
| observation, _reward, done, _info = self.step(np.zeros(self.sim.model.nu)) | |||
| observation, _reward, done, *_, _info = self.step(np.zeros(self.sim.model.nu)) | |||
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We could decorate this too but it's also ok if you don't need the truncated oc
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Seems to work for now. Lets revisit in the future incase this isn't sufficient
| @@ -702,7 +728,7 @@ def examine_policy(self, | |||
| ep_rwd = 0.0 | |||
| while t < horizon and done is False: | |||
| a = policy.get_action(o)[0] if mode == 'exploration' else policy.get_action(o)[1]['evaluation'] | |||
| next_o, rwd, done, env_info = self.step(a) | |||
| next_o, rwd, done, *_, env_info = self.step(a) | |||
| @@ -794,7 +820,7 @@ def examine_policy_new(self, | |||
| ep_rwd = 0.0 | |||
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| # Rollout -------------------------------- | |||
| obs, rwd, done, env_info = self.forward(update_exteroception=True) # t=0 | |||
| @@ -825,7 +851,7 @@ def examine_policy_new(self, | |||
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| # step env using actions from t=>t+1 ---------------------- | |||
| obs, rwd, done, env_info = self.step(act, update_exteroception=True) | |||
| obs, rwd, done, *_, env_info = self.step(act, update_exteroception=True) | |||
…rom randint to choice
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@vmoens -- I tried something like this - https://github.com/vikashplus/robohive/blob/implement_for/robohive/tests/test_versions.sh Any other salient versions we should check for? |
Vittorio-Caggiano
approved these changes
Nov 25, 2023
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FEATURE: Adding support with passing tests for multiple gym/gymnasium versions