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("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")):
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("RocketLander")):
from box2d.rocket import RocketLander
env = RocketLander()
elif (env_name.startswith("VAERacing")):
from vae_racing import VAERacing
env = VAERacing()
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("CartPoleSwingUp")):
print("cartpole_swingup_started")
from custom_envs.cartpole_swingup import CartPoleSwingUpEnv
env = CartPoleSwingUpEnv()
elif (env_name.startswith("MNIST")):
print("MNIST256_started")
from custom_envs.classify_gym import ClassifyEnv, mnist_256, mnist_256_test, mnist_784_test, mnist_784, \
mnist_features_test, mnist_features, mnist_autoencoder, mnist_autoencoder_test
if env_name.startswith("MNISTTEST256"):
test_images, test_labels = mnist_256_test()
env = ClassifyEnv(test_images,
test_labels,
batch_size=10000,
accuracy_mode=True)
elif env_name.startswith("MNISTTRAIN256"):
train_images, train_labels = mnist_256()
env = ClassifyEnv(train_images,
train_labels,
batch_size=60000,
accuracy_mode=True)
elif env_name.startswith("MNISTTEST784"):
test_images, test_labels = mnist_784_test()
env = ClassifyEnv(test_images,
test_labels,
batch_size=10000,
accuracy_mode=True)
elif env_name.startswith("MNISTTRAIN784"):
train_images, train_labels = mnist_784()
env = ClassifyEnv(train_images,
train_labels,
batch_size=60000,
accuracy_mode=True)
elif env_name.startswith("MNISTTESTFEATURES"):
test_images, test_labels = mnist_features_test()
env = ClassifyEnv(test_images,
test_labels,
batch_size=10000,
accuracy_mode=True)
elif env_name.startswith("MNISTTRAINFEATURES"):
train_images, train_labels = mnist_features()
env = ClassifyEnv(train_images,
train_labels,
batch_size=60000,
accuracy_mode=True)
elif env_name.startswith("MNISTTESTAUTOENCODER"):
test_images, test_labels = mnist_autoencoder_test()
env = ClassifyEnv(test_images,
test_labels,
batch_size=10000,
accuracy_mode=True)
elif env_name.startswith("MNISTTRAINAUTOENCODER"):
train_images, train_labels = mnist_autoencoder()
env = ClassifyEnv(train_images,
train_labels,
batch_size=60000,
accuracy_mode=True)
else:
trainSet, target = mnist_256()
env = ClassifyEnv(trainSet, target)
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("VAERacing")):
from vae_racing import VAERacing, VAERacingStack, VAERacingWorld
if (env_name.startswith("VAERacingPureWorld")):
env = VAERacingWorld(pure_world=True)
elif (env_name.startswith("VAERacingWorld")):
env = VAERacingWorld()
elif (env_name.startswith("VAERacingStack")):
discrete_mode = False
if (env_name.startswith("VAERacingStackDiscrete")):
discrete_mode = True
env = VAERacingStack(discrete_mode=discrete_mode)
else:
env = VAERacing()
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
env = CartPoleSwingUpEnv()
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
hard = env_name.startswith("CartPoleSwingUpHard")
env = CartPoleSwingUpEnv(hard=hard)
elif (env_name.startswith("KukaBulletEnv")):
print("bullet_kuka_grasping started")
env = kukaGymEnv.KukaGymEnv(renders=render_mode, isDiscrete=False)
elif (env_name.startswith('HFR')):
hfr_config_file = os.path.join('log', 'hfr_config.yaml')
with open(hfr_config_file, 'r') as f:
hfr_config = yaml.load(f)
print(hfr_config)
env = HumanFollowingRobotBaseEnv(
target_distance_min=hfr_config['target_distance_min'],
target_distance_max=hfr_config['target_distance_max'],
target_angle_max=hfr_config['target_angle_max'],
keep_distance=hfr_config['keep_distance'],
max_steps=hfr_config['max_steps'],
time_step=hfr_config['time_step'],
action_repeat=hfr_config['action_repeat'],
traj_deviation_penalty=hfr_config['traj_deviation_penalty'],
jnt_accelerate_penalty=hfr_config['jnt_accelerate_penalty'],
hip_traj_deviation_weight=hfr_config['hip_traj_deviation_weight'],
base_height_weight=hfr_config['base_height_weight'],
use_traj=hfr_config['use_traj'],
use_ref_pose=hfr_config['use_ref_pose'],
max_allowed_deviation=hfr_config['max_allowed_deviation'],
smooth_k_action=hfr_config['smooth_k_action'],
rand_flip_obs=hfr_config['rand_flip_obs'],
symmetric_action_weight=hfr_config['symmetric_action_weight'],
torque_control=hfr_config['torque_control'],
render=False)
print('human following robot started')
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