def __init__(self, output_path, frame_shape, frames_per_sec):
self.proc = None
self.output_path = output_path
# Frame shape should be lines-first, so w and h are swapped
h, w, pixfmt = frame_shape
if pixfmt != 3 and pixfmt != 4:
raise error.InvalidFrame(
"Your frame has shape {}, but we require (w,h,3) or (w,h,4), i.e., RGB values for a w-by-h image, with an optional alpha channel."
.format(frame_shape))
self.wh = (w, h)
self.includes_alpha = (pixfmt == 4)
self.frame_shape = frame_shape
self.frames_per_sec = frames_per_sec
if distutils.spawn.find_executable('avconv') is not None:
self.backend = 'avconv'
elif distutils.spawn.find_executable('ffmpeg') is not None:
self.backend = 'ffmpeg'
else:
raise error.DependencyNotInstalled(
"""Found neither the ffmpeg nor avconv executables. On OS X, you can install ffmpeg via `brew install ffmpeg`. On most Ubuntu variants, `sudo apt-get install ffmpeg` should do it. On Ubuntu 14.04, however, you'll need to install avconv with `sudo apt-get install libav-tools`."""
)
self.start()
import os
import numpy as np
from envs.gym import utils, error
from envs.gym.envs.robotics import rotations, hand_env
from envs.gym.envs.robotics.utils import robot_get_obs
from envs.gym.envs.robotics.utils import process_data
from pdb import set_trace as st
try:
import mujoco_py
except ImportError as e:
raise error.DependencyNotInstalled(
"{}. (HINT: you need to install mujoco_py, and also perform the setup instructions here: https://github.com/openai/mujoco-py/.)"
.format(e))
def quat_from_angle_and_axis(angle, axis):
assert axis.shape == (3, )
axis /= np.linalg.norm(axis)
quat = np.concatenate([[np.cos(angle / 2.)], np.sin(angle / 2.) * axis])
quat /= np.linalg.norm(quat)
return quat
# Ensure we get the path separator correct on windows
# MANIPULATE_BLOCK_XML = os.path.join('hand', 'manipulate_block.xml')
MANIPULATE_EGG_XML = os.path.join('hand', 'site_soft_manipulate_egg.xml')
# MANIPULATE_PEN_XML = os.path.join('hand', 'manipulate_pen.xml')
import numpy as np
import os
from envs import gym
from envs.gym import error, spaces
from envs.gym import utils
from envs.gym.utils import seeding
try:
import atari_py
except ImportError as e:
raise error.DependencyNotInstalled(
"{}. (HINT: you can install Atari dependencies by running "
"'pip install gym[atari]'.)".format(e))
def to_ram(ale):
ram_size = ale.getRAMSize()
ram = np.zeros((ram_size), dtype=np.uint8)
ale.getRAM(ram)
return ram
class AtariEnv(gym.Env, utils.EzPickle):
metadata = {'render.modes': ['human', 'rgb_array']}
def __init__(
self,
game='pong',
mode=None,
difficulty=None,
obs_type='ram',