add default_camera_config argument on Swimmer, InvertedPendulum & InvertedDoublePendulum

gymnasium/envs/mujoco/inverted_double_pendulum_v5.py

@@ -1,5 +1,7 @@
 __credits__ = ["Kallinteris-Andreas"]
 
+from typing import Dict, Union
+
 import numpy as np
 
 from gymnasium import utils
@@ -136,6 +138,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle):
     ## Version History
     * v5:
         - Minimum `mujoco` version is now 2.3.3.
+        - Added `default_camera_config` argument, a dictionary for setting the `mj_camera` properties, mainly useful for custom environments.
         - Added `frame_skip` argument, used to configure the `dt` (duration of `step()`), default varies by environment check environment documentation pages.
         - Fixed bug: `healthy_reward` was given on every step (even if the Pendulum is unhealthy), now it is only given if the DoublePendulum is healthy (not terminated)(related [Github issue](https://github.com/Farama-Foundation/Gymnasium/issues/500)).
         - Excluded the `qfrc_constraint` ("constraint force") of the hinges from the observation space (as it was always 0, thus providing no useful information to the agent, resulting is slightly faster training) (related [Github issue](https://github.com/Farama-Foundation/Gymnasium/issues/228)).
@@ -162,6 +165,7 @@ def __init__(
         self,
         xml_file: str = "inverted_double_pendulum.xml",
         frame_skip: int = 5,
+        default_camera_config: Dict[str, Union[float, int]] = {},
         healthy_reward: float = 10.0,
         reset_noise_scale: float = 0.1,
         **kwargs,
@@ -178,7 +182,7 @@ def __init__(
             xml_file,
             frame_skip,
             observation_space=observation_space,
-            default_camera_config=DEFAULT_CAMERA_CONFIG,
+            default_camera_config=default_camera_config,
             **kwargs,
         )
 

gymnasium/envs/mujoco/inverted_pendulum_v5.py

@@ -1,5 +1,7 @@
 __credits__ = ["Kallinteris-Andreas"]
 
+from typing import Dict, Union
+
 import numpy as np
 
 from gymnasium import utils
@@ -115,6 +117,7 @@ class InvertedPendulumEnv(MujocoEnv, utils.EzPickle):
     * v5:
         - Minimum `mujoco` version is now 2.3.3.
         - Added support for fully custom/third party `mujoco` models using the `xml_file` argument (previously only a few changes could be made to the existing models).
+        - Added `default_camera_config` argument, a dictionary for setting the `mj_camera` properties, mainly useful for custom environments.
         - Added `env.observation_structure`, a dictionary for specifying the observation space compose (e.g. `qpos`, `qvel`), useful for building tooling and wrappers for the MuJoCo environments.
         - Added `frame_skip` argument, used to configure the `dt` (duration of `step()`), default varies by environment check environment documentation pages.
         - Fixed bug: `healthy_reward` was given on every step (even if the Pendulum is unhealthy), now it is only given if the Pendulum is healthy (not terminated) (related [Github issue](https://github.com/Farama-Foundation/Gymnasium/issues/500)).
@@ -140,6 +143,7 @@ def __init__(
         self,
         xml_file: str = "inverted_pendulum.xml",
         frame_skip: int = 2,
+        default_camera_config: Dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
         reset_noise_scale: float = 0.01,
         **kwargs,
     ):
@@ -153,7 +157,7 @@ def __init__(
             xml_file,
             frame_skip,
             observation_space=observation_space,
-            default_camera_config=DEFAULT_CAMERA_CONFIG,
+            default_camera_config=default_camera_config,
             **kwargs,
         )
 

gymnasium/envs/mujoco/swimmer_v5.py

@@ -1,5 +1,7 @@
 __credits__ = ["Kallinteris-Andreas", "Rushiv Arora"]
 
+from typing import Dict, Union
+
 import numpy as np
 
 from gymnasium import utils
@@ -169,6 +171,7 @@ def __init__(
         self,
         xml_file: str = "swimmer.xml",
         frame_skip: int = 4,
+        default_camera_config: Dict[str, Union[float, int]] = {},
         forward_reward_weight: float = 1.0,
         ctrl_cost_weight: float = 1e-4,
         reset_noise_scale: float = 0.1,
@@ -179,6 +182,7 @@ def __init__(
             self,
             xml_file,
             frame_skip,
+            default_camera_config,
             forward_reward_weight,
             ctrl_cost_weight,
             reset_noise_scale,
@@ -195,7 +199,14 @@ def __init__(
             exclude_current_positions_from_observation
         )
 
-        MujocoEnv.__init__(self, xml_file, frame_skip, observation_space=None, **kwargs)
+        MujocoEnv.__init__(
+            self,
+            xml_file,
+            frame_skip,
+            observation_space=None,
+            default_camera_config=default_camera_config,
+            **kwargs,
+        )
 
         self.metadata = {
             "render_modes": [