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Healthcare-Robotics / assistive-gym

Assistive Gym, a physics-based simulation framework for physical human-robot interaction and robotic assistance.
MIT License
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Can't load "human" environments #24

Closed escribano89 closed 1 year ago

escribano89 commented 2 years ago

Hi, I'm unable to load the "human" environments using the provided Google Collab: https://colab.research.google.com/drive/1PAY5HnLKRB-TBsPaevRr6myMfpVt_yzF

No registered env with id: ScratchItchPandaHuman-v1

It happens with all [task][robot]Human-v1 environments. Thanks!

Zackory commented 1 year ago

This seems to be an issue with Google Colab. If you install Assistive Gym locally, it should work just fine. Typically, we register envs into the gym interface by calling register(): https://github.com/Healthcare-Robotics/assistive-gym/blob/main/assistive_gym/__init__.py However, for the 'human' environments, we need to co-optimize two separate policies and that requires using an RLlib environment register function. https://github.com/Healthcare-Robotics/assistive-gym/blob/main/assistive_gym/envs/scratch_itch_envs.py#L44 For some reason, Google Colab is not calling this function correctly and registering the 'human' environments.