Fixes #45.

robfiras · Sep 9, 2024 · 39a101c · 39a101c
1 parent f9654dd
commit 39a101c
Showing 1 changed file with 4 additions and 7 deletions.
diff --git a/loco_mujoco/environments/gymnasium.py b/loco_mujoco/environments/gymnasium.py
@@ -15,16 +15,11 @@ class GymnasiumWrapper(Env):
 
  """
 
- metadata = {
- "render_modes": [
- "human",
- "rgb_array",
- ]
- }
-
  def __init__(self, env_name, render_mode=None, **kwargs):
  self.spec = EnvSpec(env_name)
 
+ self.metadata = {"render_modes": ["human", "rgb_array"]}
+
  key_render_mode = "render_modes"
  assert "headless" not in kwargs.keys(), f"headless parameter is not allowed in Gymnasium environment. " \
  f"Please use the render_mode parameter. Supported modes are: " \
@@ -44,6 +39,8 @@ def __init__(self, env_name, render_mode=None, **kwargs):
 
  self._env = LocoEnv.make(env_name, **kwargs)
 
+ self.metadata["render_fps"] = 1.0 / self._env.dt
+
  self.observation_space = self._convert_space(self._env.info.observation_space)
  self.action_space = self._convert_space(self._env.info.action_space)