def make_env(idx, test):
from pybullet_envs.bullet.kuka_diverse_object_gym_env import KukaDiverseObjectEnv # NOQA
# Use different random seeds for train and test envs
process_seed = int(process_seeds[idx])
env_seed = 2**32 - 1 - process_seed if test else process_seed
# Set a random seed for this subprocess
misc.set_random_seed(env_seed)
env = KukaDiverseObjectEnv(
isDiscrete=True,
renders=args.render and (args.demo or not test),
height=84,
width=84,
maxSteps=max_episode_steps,
isTest=test,
)
assert env.observation_space is None
env.observation_space = gym.spaces.Box(low=0,
high=255,
shape=(84, 84, 3),
dtype=np.uint8)
# (84, 84, 3) -> (3, 84, 84)
env = TransposeObservation(env, (2, 0, 1))
env = ObserveElapsedSteps(env, max_episode_steps)
# KukaDiverseObjectEnv internally asserts int actions and does not
# accept python-future's newint.
env = CastAction(env, __builtins__.int)
env.seed(int(env_seed))
if test and args.record:
assert args.render,\
'To use --record, --render needs be specified.'
video_dir = os.path.join(args.outdir, 'video_{}'.format(idx))
os.mkdir(video_dir)
env = RecordMovie(env, video_dir)
return env
def make_env(idx, test):
from pybullet_envs.bullet.kuka_diverse_object_gym_env import (
KukaDiverseObjectEnv,
) # NOQA
# Use different random seeds for train and test envs
process_seed = int(process_seeds[idx])
env_seed = 2 ** 32 - 1 - process_seed if test else process_seed
# Set a random seed for this subprocess
utils.set_random_seed(env_seed)
env = KukaDiverseObjectEnv(
isDiscrete=True,
renders=args.render and (args.demo or not test),
height=84,
width=84,
maxSteps=max_episode_steps,
isTest=test,
)
# Disable file caching to keep memory usage small
env._p.setPhysicsEngineParameter(enableFileCaching=False)
assert env.observation_space is None
env.observation_space = gym.spaces.Box(
low=0, high=255, shape=(84, 84, 3), dtype=np.uint8
)
# (84, 84, 3) -> (3, 84, 84)
env = TransposeObservation(env, (2, 0, 1))
env = ObserveElapsedSteps(env, max_episode_steps)
# KukaDiverseObjectEnv internally asserts int actions
env = CastAction(env, int)
env.seed(int(env_seed))
if test and args.record:
assert args.render, "To use --record, --render needs be specified."
video_dir = os.path.join(args.outdir, "video_{}".format(idx))
os.mkdir(video_dir)
env = RecordMovie(env, video_dir)
return env