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add fixes for reproducibility

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This commit is contained in:
Alexander Soare
2024-03-22 15:06:57 +00:00
parent b9047fbdd2
commit 15ff3b3af8
4 changed files with 45 additions and 14 deletions
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2
lerobot/common/envs/pusht/pusht_env.py
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@@ -33,7 +33,7 @@ class PushTEnv(gym.Env):
def __init__(
self,
legacy=False,
legacy=True, # compatibility with original
block_cog=None,
damping=None,
render_action=True,

3
lerobot/common/envs/pusht/pusht_image_env.py
View File

@@ -7,7 +7,8 @@ from lerobot.common.envs.pusht.pusht_env import PushTEnv
class PushTImageEnv(PushTEnv):
metadata = {"render.modes": ["rgb_array"], "video.frames_per_second": 10}
def __init__(self, legacy=False, block_cog=None, damping=None, render_size=96):
# Note: legacy defaults to True for compatibility with original
def __init__(self, legacy=True, block_cog=None, damping=None, render_size=96):
super().__init__(
legacy=legacy, block_cog=block_cog, damping=damping, render_size=render_size, render_action=False
)