def make_env(env_name, seed=-1, render_mode=False):
if (env_name.startswith("RacecarBulletEnv")):
print("bullet_racecar_started")
env = racecarGymEnv.RacecarGymEnv(isDiscrete=False, renders=render_mode)
elif (env_name.startswith("MinitaurBulletEnv")):
print("bullet_minitaur_started")
env = minitaur_gym_env.MinitaurBulletEnv(render=render_mode)
elif (env_name.startswith("MinitaurDuckBulletEnv")):
print("bullet_minitaur_duck_started")
env = MinitaurDuckBulletEnv(render=render_mode)
elif (env_name.startswith("MinitaurBallBulletEnv")):
print("bullet_minitaur_ball_started")
env = MinitaurBallBulletEnv(render=render_mode)
elif (env_name.startswith("KukaBulletEnv")):
print("bullet_kuka_grasping started")
env = kukaGymEnv.KukaGymEnv(renders=render_mode,isDiscrete=False)
else:
if env_name.startswith("Roboschool"):
import roboschool
env = gym.make(env_name)
if render_mode and not env_name.startswith("Roboschool"):
env.render("human")
if (seed >= 0):
env.seed(seed)
'''
print("environment details")
print("env.action_space", env.action_space)
print("high, low", env.action_space.high, env.action_space.low)
print("environment details")
print("env.observation_space", env.observation_space)
print("high, low", env.observation_space.high, env.observation_space.low)
assert False
'''
return env
def make_env(env_name, seed=-1, render_mode=False):
if (env_name.startswith("RacecarBulletEnv")):
print("bullet_racecar_started")
env = racecarGymEnv.RacecarGymEnv(isDiscrete=False,
renders=render_mode)
elif (env_name.startswith("RocketLander")):
from box2d.rocket import RocketLander
env = RocketLander()
elif (env_name.startswith("BipedalWalker")):
if (env_name.startswith("BipedalWalkerHardcore")):
from box2d.biped import BipedalWalkerHardcore
env = BipedalWalkerHardcore()
else:
from box2d.biped import BipedalWalker
env = BipedalWalker()
elif (env_name.startswith("MinitaurBulletEnv")):
print("bullet_minitaur_started")
env = minitaur_gym_env.MinitaurBulletEnv(render=render_mode)
elif (env_name.startswith("MinitaurDuckBulletEnv")):
print("bullet_minitaur_duck_started")
env = MinitaurDuckBulletEnv(render=render_mode)
elif (env_name.startswith("MinitaurBallBulletEnv")):
print("bullet_minitaur_ball_started")
env = MinitaurBallBulletEnv(render=render_mode)
elif (env_name.startswith("CartPoleSwingUp")):
print("cartpole_swingup_started")
from custom_envs.cartpole_swingup import CartPoleSwingUpEnv
hardcore = env_name.startswith("CartPoleSwingUpHardcore")
env = CartPoleSwingUpEnv(hardcore=hardcore)
elif (env_name.startswith("KukaBulletEnv")):
print("bullet_kuka_grasping started")
env = kukaGymEnv.KukaGymEnv(renders=render_mode, isDiscrete=False)
else:
if env_name.startswith("Roboschool"):
import roboschool
env = gym.make(env_name)
if render_mode and not env_name.startswith("Roboschool"):
env.render("human")
if (seed >= 0):
env.seed(seed)
'''
print("environment details")
print("env.action_space", env.action_space)
print("high, low", env.action_space.high, env.action_space.low)
print("environment details")
print("env.observation_space", env.observation_space)
print("high, low", env.observation_space.high, env.observation_space.low)
assert False
'''
return env
def __init__(self):
self.ENV = env = e.RacecarGymEnv(
isDiscrete=False, renders=False) #env gym.make(self.ENV_NAME)
self.NN_TRAIN_CFG = {"epochs": 5}
self.OPT_CFG = {
"Random": {
"popsize": 2000
},
"CEM": {
"popsize": 400,
"num_elites": 40,
"max_iters": 5,
"alpha": 0.1
}
}
def make_env(env_name, seed=-1, render_mode=False):
if (env_name.startswith("RacecarBulletEnv")):
print("bullet_racecar_started")
env = racecarGymEnv.RacecarGymEnv(isDiscrete=False,
renders=render_mode)
elif (env_name.startswith("MinitaurBulletEnv")):
print("bullet_minitaur_started")
env = minitaur_gym_env.MinitaurBulletEnv(render=render_mode)
else:
env = gym.make(env_name)
if render_mode and ("BulletEnv-v0" in env_name):
env.render("human")
if (seed >= 0):
env.seed(seed)
return env
def __init__(self):
self.ENV = env = e.RacecarGymEnv(isDiscrete=False ,renders=False) #gym.make(self.ENV_NAME)
cfg = tf.ConfigProto()
cfg.gpu_options.allow_growth = True
self.SESS = tf.Session(config=cfg)
self.NN_TRAIN_CFG = {"epochs": 5}
self.OPT_CFG = {
"Random": {
"popsize": 2000
},
"CEM": {
"popsize": 400,
"num_elites": 40,
"max_iters": 5,
"alpha": 0.1
}
}
import time
import argparse
import multiprocessing
import gym
import numpy as np
import pybullet_envs
from pybullet_envs.stable_baselines.utils import TimeFeatureWrapper
import pybullet_envs.bullet.racecarGymEnv as e
if __name__ == '__main__':
# env = TimeFeatureWrapper(gym.make('KukaBulletEnv-v0'))
env = e.RacecarGymEnv(isDiscrete=False, renders=True)
env.render(mode='human')
try:
# Use deterministic actions for evaluation
episode_rewards, episode_lengths = [], []
while True:
env.reset()
while True:
action = env.action_space.sample()
obs, reward, done, _info = env.step(action)
env.render(mode='human')
dt = 1. / 240.
time.sleep(dt)
except KeyboardInterrupt:
pass
def make_env(env_name, seed=-1, render_mode=False):
if (env_name.startswith("RacecarBulletEnv")):
import pybullet as p
import pybullet_envs
import pybullet_envs.bullet.racecarGymEnv as racecarGymEnv
print("bullet_racecar_started")
env = racecarGymEnv.RacecarGymEnv(isDiscrete=False,
renders=render_mode)
elif (env_name.startswith("RocketLander")):
from box2d.rocket import RocketLander
env = RocketLander()
elif (env_name.startswith("BipedalWalker")):
if (env_name.startswith("BipedalWalkerHardcore")):
from box2d.biped import BipedalWalkerHardcore
env = BipedalWalkerHardcore()
else:
from box2d.biped import BipedalWalker
env = BipedalWalker()
elif (env_name.startswith("MinitaurBulletEnv")):
import pybullet as p
import pybullet_envs
import pybullet_envs.bullet.minitaur_gym_env as minitaur_gym_env
print("bullet_minitaur_started")
env = minitaur_gym_env.MinitaurBulletEnv(render=render_mode)
elif (env_name.startswith("MinitaurDuckBulletEnv")):
print("bullet_minitaur_duck_started")
import pybullet as p
import pybullet_envs
from custom_envs.minitaur_duck import MinitaurDuckBulletEnv
env = MinitaurDuckBulletEnv(render=render_mode)
elif (env_name.startswith("MinitaurBallBulletEnv")):
print("bullet_minitaur_ball_started")
import pybullet as p
import pybullet_envs
from custom_envs.minitaur_ball import MinitaurBallBulletEnv
env = MinitaurBallBulletEnv(render=render_mode)
elif (env_name.startswith("SlimeVolley")):
print("slimevolley_swingup_started")
from custom_envs.slimevolley import SlimeVolleyEnv, SurvivalRewardEnv
env = SlimeVolleyEnv()
env = SurvivalRewardEnv(env) # optional
elif (env_name.startswith("CartPoleSwingUp")):
print("cartpole_swingup_started")
from custom_envs.cartpole_swingup import CartPoleSwingUpEnv
env = CartPoleSwingUpEnv()
elif (env_name.startswith("KukaBulletEnv")):
import pybullet as p
import pybullet_envs
import pybullet_envs.bullet.kukaGymEnv as kukaGymEnv
print("bullet_kuka_grasping started")
env = kukaGymEnv.KukaGymEnv(renders=render_mode, isDiscrete=False)
elif (env_name.startswith("NoDeathAntBullet")):
print("no death bullet ant.")
import pybullet_envs
from custom_envs.custom_wrapper import NoDeath
env = NoDeath(gym.make("AntBulletEnv-v0"))
if render_mode and not env_name.startswith("Roboschool"):
env.render("human")
else:
if env_name.startswith("Roboschool"):
import roboschool
if "Bullet" in env_name:
import pybullet_envs
env = gym.make(env_name)
if render_mode and not env_name.startswith("Roboschool"):
env.render("human")
if (seed >= 0):
env.seed(seed)
'''
print("environment details")
print("env.action_space", env.action_space)
print("high, low", env.action_space.high, env.action_space.low)
print("environment details")
print("env.observation_space", env.observation_space)
print("high, low", env.observation_space.high, env.observation_space.low)
assert False
'''
return env
def make_env(env_name, seed=-1, render_mode=False):
if (env_name.startswith("RacecarBulletEnv")):
print("bullet_racecar_started")
env = racecarGymEnv.RacecarGymEnv(isDiscrete=False,
renders=render_mode)
elif (env_name.startswith("AugmentBipedalWalker")):
if (env_name.startswith("AugmentBipedalWalkerHardcore")):
if (env_name.startswith("AugmentBipedalWalkerHardcoreSmallLegs")):
from box2d.bipedal_walker import AugmentBipedalWalkerHardcoreSmallLegs
env = AugmentBipedalWalkerHardcoreSmallLegs()
else:
from box2d.bipedal_walker import AugmentBipedalWalkerHardcore
env = AugmentBipedalWalkerHardcore()
elif (env_name.startswith("AugmentBipedalWalkerSmallLegs")):
from box2d.bipedal_walker import AugmentBipedalWalkerSmallLegs
env = AugmentBipedalWalkerSmallLegs()
elif (env_name.startswith("AugmentBipedalWalkerTallLegs")):
from box2d.bipedal_walker import AugmentBipedalWalkerTallLegs
env = AugmentBipedalWalkerTallLegs()
else:
from box2d.bipedal_walker import AugmentBipedalWalker
env = AugmentBipedalWalker()
elif (env_name.startswith("MinitaurBulletEnv")):
print("bullet_minitaur_started")
env = minitaur_gym_env.MinitaurBulletEnv(render=render_mode)
elif (env_name.startswith("MinitaurDuckBulletEnv")):
print("bullet_minitaur_duck_started")
env = MinitaurDuckBulletEnv(render=render_mode)
elif (env_name.startswith("MinitaurBallBulletEnv")):
print("bullet_minitaur_ball_started")
env = MinitaurBallBulletEnv(render=render_mode)
elif (env_name.startswith("KukaBulletEnv")):
print("bullet_kuka_grasping started")
env = kukaGymEnv.KukaGymEnv(renders=render_mode, isDiscrete=False)
else:
if env_name.startswith("Augment"):
import robogym
if env_name.startswith("AugmentAnt"):
from robogym import AugmentAnt
env = AugmentAnt()
elif env_name.startswith("AugmentHopper"):
from robogym import AugmentHopper
env = AugmentHopper()
elif env_name.startswith("AugmentHalfCheetah"):
from robogym import AugmentHalfCheetah
env = AugmentHalfCheetah()
else:
env = gym.make(env_name)
if render_mode and not env_name.startswith("Augment"):
env.render("human")
if (seed >= 0):
env.seed(seed)
'''
print("environment details")
print("env.action_space", env.action_space)
print("high, low", env.action_space.high, env.action_space.low)
print("environment details")
print("env.observation_space", env.observation_space)
print("high, low", env.observation_space.high, env.observation_space.low)
assert False
'''
return env