def make_env(env_name, seed=-1, render_mode=False):
# -- Bullet Environments ------------------------------------------- -- #
if "Bullet" in env_name:
import pybullet as p # pip install pybullet
import pybullet_envs
import pybullet_envs.bullet.kukaGymEnv as kukaGymEnv
# -- Bipedal Walker ------------------------------------------------ -- #
if (env_name.startswith("BipedalWalker")):
if (env_name.startswith("BipedalWalkerHardcore")):
import Box2D
from domain.bipedal_walker import BipedalWalkerHardcore
env = BipedalWalkerHardcore()
elif (env_name.startswith("BipedalWalkerMedium")):
from domain.bipedal_walker import BipedalWalker
env = BipedalWalker()
env.accel = 3
else:
from domain.bipedal_walker import BipedalWalker
env = BipedalWalker()
# -- Custom control tasks for pivector work ------------------------ -- #
elif env_name in ("Pendulum-v0", "CartPole-v1", "Acrobot-v1",
"LunarLander-v2"):
env = gym.make(env_name)
# -- VAE Racing ---------------------------------------------------- -- #
elif (env_name.startswith("VAERacing")):
from domain.vae_racing import VAERacing
env = VAERacing()
# -- Classification ------------------------------------------------ -- #
elif (env_name.startswith("Classify")):
from domain.classify_gym import ClassifyEnv
if env_name.endswith("digits"):
from domain.classify_gym import digit_raw
trainSet, target = digit_raw()
if env_name.endswith("mnist256"):
from domain.classify_gym import mnist_256
trainSet, target = mnist_256()
env = ClassifyEnv(trainSet, target)
# -- Cart Pole Swing up -------------------------------------------- -- #
elif (env_name.startswith("CartPoleSwingUp")):
from domain.cartpole_swingup import CartPoleSwingUpEnv
env = CartPoleSwingUpEnv()
if (env_name.startswith("CartPoleSwingUp_Hard")):
env.dt = 0.01
env.t_limit = 200
# -- Other -------------------------------------------------------- -- #
else:
env = gym.make(env_name)
if (seed >= 0):
domain.seed(seed)
return env
def make_env(env_name, seed=-1, render_mode=False):
# -- Bipedal Walker ------------------------------------------------ -- #
if (env_name.startswith("BipedalWalker")):
if (env_name.startswith("BipedalWalkerHardcore")):
import Box2D
from domain.bipedal_walker import BipedalWalkerHardcore
env = BipedalWalkerHardcore()
elif (env_name.startswith("BipedalWalkerMedium")):
from domain.bipedal_walker import BipedalWalker
env = BipedalWalker()
env.accel = 3
else:
from domain.bipedal_walker import BipedalWalker
env = BipedalWalker()
# -- VAE Racing ---------------------------------------------------- -- #
elif (env_name.startswith("VAERacing")):
from domain.vae_racing import VAERacing
env = VAERacing()
# -- Classification ------------------------------------------------ -- #
elif (env_name.startswith("Classify")):
from domain.classify_gym import ClassifyEnv
if env_name.endswith("digits"):
from domain.classify_gym import digit_raw
trainSet, target = digit_raw()
if env_name.endswith("mnist784"):
from domain.classify_gym import mnist_784
trainSet, target = mnist_784()
if env_name.endswith("mnist256"):
from domain.classify_gym import mnist_256
trainSet, target = mnist_256()
if env_name.endswith("xor"):
from domain.classify_gym import xor
trainSet, target = xor()
env = ClassifyEnv(trainSet, target)
# -- Cart Pole Swing up -------------------------------------------- -- #
elif (env_name.startswith("CartPoleSwingUp")):
from domain.cartpole_swingup import CartPoleSwingUpEnv
env = CartPoleSwingUpEnv()
if (env_name.startswith("CartPoleSwingUp_Hard")):
env.dt = 0.01
env.t_limit = 200
# -- Other -------------------------------------------------------- -- #
else:
env = gym.make(env_name)
if (seed >= 0):
domain.seed(seed)
return env
def make_env(env_name, seed=-1, render_mode=False):
if "Bullet" in env_name:
import pybullet as p
import pybullet_envs
import pybullet_envs.bullet.kukaGymEnv as kukaGymEnv
# -- Bipedal Walker ------------------------------------------------ -- #
if (env_name.startswith("BipedalWalker")):
if (env_name.startswith("BipedalWalkerHardcore")):
import Box2D
from domain.bipedal_walker import BipedalWalkerHardcore
env = BipedalWalkerHardcore()
elif (env_name.startswith("BipedalWalkerMedium")):
from domain.bipedal_walker import BipedalWalker
env = BipedalWalker()
env.accel = 3
else:
from domain.bipedal_walker import BipedalWalker
env = BipedalWalker()
# -- VAE Racing ---------------------------------------------------- -- #
elif (env_name.startswith("VAERacing")):
from domain.vae_racing import VAERacing
env = VAERacing()
# -- Classification ------------------------------------------------ -- #
elif (env_name.startswith("Classify")):
from domain.classify_gym import ClassifyEnv
if env_name.endswith("digits"):
from domain.classify_gym import digit_raw
trainSet, target = digit_raw()
if env_name.endswith("mnist256"):
from domain.classify_gym import mnist_256
trainSet, target = mnist_256()
env = ClassifyEnv(trainSet, target)
elif (env_name.startswith("SDF")):
from domain.sdf_gym import SdfEnv
env = SdfEnv()
# -- Cart Pole Swing up -------------------------------------------- -- #
elif (env_name.startswith("CartPoleSwingUp")):
from domain.cartpole_swingup import CartPoleSwingUpEnv
env = CartPoleSwingUpEnv()
# -- Other -------------------------------------------------------- -- #
else:
env = gym.make(env_name)
if (seed >= 0):
domain.seed(seed)
return env
def make_env(env_name, seed=-1, render_mode=False):
# -- Bipedal Walker ------------------------------------------------ -- #
if (env_name.startswith("BipedalWalker")):
if (env_name.startswith("BipedalWalkerHardcore")):
import Box2D
from domain.bipedal_walker import BipedalWalkerHardcore
env = BipedalWalkerHardcore()
elif (env_name.startswith("BipedalWalkerMedium")):
from domain.bipedal_walker import BipedalWalker
env = BipedalWalker()
env.accel = 3
else:
from domain.bipedal_walker import BipedalWalker
env = BipedalWalker()
# -- VAE Racing ---------------------------------------------------- -- #
elif (env_name.startswith("VAERacing")):
from domain.vae_racing import VAERacing
env = VAERacing()
# -- Classification ------------------------------------------------ -- #
elif (env_name.startswith("Classify")):
from domain.classify_gym import ClassifyEnv
if env_name.endswith("digits"):
from domain.classify_gym import digit_raw
trainSet, target = digit_raw()
if env_name.endswith("mnist784"):
from domain.classify_gym import mnist_784
trainSet, target = mnist_784()
if env_name.endswith("mnist256"):
from domain.classify_gym import mnist_256
trainSet, target = mnist_256()
env = ClassifyEnv(trainSet,target)
# -- Cart Pole Swing up -------------------------------------------- -- #
elif (env_name.startswith("CartPoleSwingUp")):
print("hi %s" % env_name)
if (env_name.endswith("alt")):
from domain.cartpole_swingup_altered import CartPoleSwingUpEnv
env = CartPoleSwingUpEnv()
elif env_name.endswith("simple"):
print("yep")
from domain.cartpole_swingup_simplified import CartPoleSwingUpSimpleEnv
env = CartPoleSwingUpSimpleEnv()
else:
from domain.cartpole_swingup import CartPoleSwingUpEnv
env = CartPoleSwingUpEnv()
if (env_name.startswith("CartPoleSwingUp_Hard")):
env.dt = 0.01
env.t_limit = 200
# -- Other -------------------------------------------------------- -- #
elif (env_name.startswith("SDF")):
from domain.regression_gym import RegressionEnv
env = RegressionEnv()
elif (env_name.startswith("gates")):
from domain.gate_gym import LogicGateEnv
gate = env_name[len("gates_"): -len("-v1")]
env = LogicGateEnv(gate)
else:
env = gym.make(env_name)
if (seed >= 0):
domain.seed(seed)
return env