def __init__(self, exec_path, env_path):
self.handle = "environment"
self.mem = _GodotEnv.SharedMemoryTensor(self.handle)
self.sem_act = _GodotEnv.SharedMemorySemaphore("sem_action", 0)
self.sem_obs = _GodotEnv.SharedMemorySemaphore("sem_observation", 0)
#Important: if this process is called with subprocess.PIPE, the semaphores will be stuck in impossible combination
with open("stdout.txt", "wb") as out, open("stderr.txt", "wb") as err:
self.process = subprocess.Popen([
exec_path, "--path",
os.path.abspath(env_path), "--handle", self.handle
],
stdout=out,
stderr=err)
#Array to manipulate the state of the simulator
self.env_action = torch.zeros(2, dtype=torch.int, device='cpu')
self.env_action[0] = 0 #1 = reset
self.env_action[1] = 0 #1 = exit
#Example of agent action
self.agent_action = torch.zeros(2, dtype=torch.float, device='cpu')
high = np.array([1., 1., 1., 1., 1., 1., 1., 1.])
self.action_space = spaces.Box(low=-1.0,
high=1.0,
shape=(2, ),
dtype=np.float32)
self.observation_space = spaces.Box(low=-high,
high=high,
dtype=np.float32)
atexit.register(self.close)
def __init__(self,
exec_path,
env_path,
num_actions=1,
num_observations=3,
render=True):
self.handle = "environment"
self.mem = _GodotEnv.SharedMemoryTensor(self.handle)
self.sem_act = _GodotEnv.SharedMemorySemaphore("sem_action", 0)
self.sem_obs = _GodotEnv.SharedMemorySemaphore("sem_observation", 0)
self.agent_action_tensor = self.mem.newFloatTensor(
"agent_action", num_actions)
self.env_action_tensor = self.mem.newIntTensor("env_action", 2)
self.observation_tensor = self.mem.newFloatTensor(
"observation", num_observations)
self.reward_tensor = self.mem.newFloatTensor("reward", 1)
self.done_tensor = self.mem.newIntTensor("done", 1)
#Important: if this process is called with subprocess.PIPE, the semaphores will be stuck in impossible combination
with open("stdout.txt", "wb") as out, open("stderr.txt", "wb") as err:
if render:
self.process = subprocess.Popen([
exec_path, "--path",
os.path.abspath(env_path), "--handle", self.handle
],
stdout=out,
stderr=err)
else:
self.process = subprocess.Popen([
exec_path, "--path",
os.path.abspath(env_path), "--disable-render-loop",
"--handle", self.handle
],
stdout=out,
stderr=err)
#Array to manipulate the state of the simulator
self.env_action = torch.zeros(2, dtype=torch.int, device='cpu')
self.env_action[0] = 0 #1 = reset
self.env_action[1] = 0 #1 = exit
#Example of agent action
self.agent_action = torch.zeros(1, dtype=torch.float, device='cpu')
self.max_torque = 8.0
self.max_speed = 8
self.action_space = spaces.Box(low=-self.max_torque,
high=self.max_torque,
shape=(num_actions, ),
dtype=np.float32)
self.observation_space = spaces.Box(low=-1.0,
high=1.0,
shape=(num_observations, ),
dtype=np.float32)
atexit.register(self.close)
def __init__(self, exec_path, env_path):
self.steps = 0
self.max_steps = 200
self.min_position = 150
self.max_position = 400
self.max_speed = 450
self.rotation = 2 * np.pi
self.low = np.array(
[self.min_position, -self.max_speed, -self.rotation],
dtype=np.float32)
self.high = np.array(
[self.max_position, self.max_speed, -self.rotation],
dtype=np.float32)
self.handle = "Environment"
self.mem = _GodotEnv.SharedMemoryTensor(self.handle)
self.sem_act = _GodotEnv.SharedMemorySemaphore("sem_action", 0)
self.sem_obs = _GodotEnv.SharedMemorySemaphore("sem_observation", 0)
#Important: if this process is called with subprocess.PIPE, the semaphores will be stuck in impossible combination
with open("stdout.txt", "wb") as out, open("stderr.txt", "wb") as err:
self.process = subprocess.Popen([
exec_path, "--path",
os.path.abspath(env_path), "--handle", self.handle
],
stdout=out,
stderr=err)
#Array to manipulate the state of the simulator
self.env_action = torch.zeros(2, dtype=torch.int, device='cpu')
self.env_action[0] = 0 #1 = reset
self.env_action[1] = 0 #1 = exit
#Example of agent action
self.agent_action = torch.zeros(1, dtype=torch.float, device='cpu')
self.action_space = spaces.Discrete(2)
self.observation_space = spaces.Box(self.low,
self.high,
dtype=np.float32)
atexit.register(self.close)
def __init__(self, exec_path, env_path):
self.handle = "environment"
self.mem = _GodotEnv.SharedMemoryTensor(self.handle)
self.sem_act = _GodotEnv.SharedMemorySemaphore("sem_action", 0)
self.sem_obs = _GodotEnv.SharedMemorySemaphore("sem_observation", 0)
#Important: if this process is called with subprocess.PIPE, the semaphores will be stuck in impossible combination
with open("stdout.txt", "wb") as out, open("stderr.txt", "wb") as err:
self.process = subprocess.Popen([
exec_path, "--path",
os.path.abspath(env_path), "--disable-render-loop", "--handle",
self.handle
],
stdout=out,
stderr=err)
time.sleep(0.01)
#Array to manipulate the state of the simulator
# self.env_action = torch.zeros(1, dtype=torch.int, device='cpu')
# self.env_action[0] = 0 #1 = exit
atexit.register(self.close)
def __init__(self,
exec_path,
pck_path=None,
render=False,
num_actions=2,
num_observations=21):
self.handle = 'environment'
self.mem = _GodotEnv.SharedMemoryTensor(self.handle)
self.sem_act = _GodotEnv.SharedMemorySemaphore("sem_action", 0)
self.sem_obs = _GodotEnv.SharedMemorySemaphore("sem_observation", 0)
self.agent_action_tensor = self.mem.newFloatTensor(
"agent_action", num_actions)
self.env_action_tensor = self.mem.newIntTensor("env_action", 2)
self.observation_tensor = self.mem.newFloatTensor(
"observation", num_observations)
self.reward_tensor = self.mem.newFloatTensor("reward", 1)
self.done_tensor = self.mem.newIntTensor("done", 1)
self.out = open("stdout.txt", 'wb')
self.err = open("stderr.txt", 'wb')
cmd = [exec_path]
if not (pck_path is None):
cmd += ['--path', os.path.abspath(pck_path)]
if not render:
cmd += ['--disable-render-loop']
cmd += ['--handle', self.handle]
self.process = subprocess.Popen(cmd, stdout=self.out, stderr=self.err)
self.action_space = spaces.Box(low=-1,
high=1.0,
shape=(num_actions, ),
dtype=np.float32)
self.observation_space = spaces.Box(low=-1,
high=1.0,
shape=(num_observations, ),
dtype=np.float32)
atexit.register(self.close)
def setUp(self):
self.mem = _GodotEnv.SharedMemoryTensor("environment")
self.sem_act = _GodotEnv.SharedMemorySemaphore("sem_action", 0)
self.sem_obs = _GodotEnv.SharedMemorySemaphore("sem_observation", 0)
def setUp(self):
output = launch_process(["g++", "semaphores.cpp", "-lpthread", "-lrt"])
print(output[0])
self.sem = _GodotEnv.SharedMemorySemaphore("test_semaphore", 0)