def __new__(cls, *args, **kwargs):
"""Returns environment specific wrapper based on input environment type.
Args:
*args: Positional arguments
**kwargs: Keyword arguments
Returns:
garage.envs.bullet.BulletEnv: if the environment is a bullet-based
environment. Else returns a garage.envs.GymEnv
"""
# pylint: disable=import-outside-toplevel
# Determine if the input env is a bullet-based gym environment
env = None
if 'env' in kwargs: # env passed as a keyword arg
env = kwargs['env']
elif len(args) >= 1:
# env passed as a positional arg
env = args[0]
if isinstance(env, gym.Env):
if env.spec and hasattr(env.spec,
'id') and env.spec.id.find('Bullet') >= 0:
from garage.envs.bullet import BulletEnv
return BulletEnv(*args, **kwargs)
elif isinstance(env, str):
if 'Bullet' in env:
from garage.envs.bullet import BulletEnv
return BulletEnv(*args, **kwargs)
return super(GymEnv, cls).__new__(cls)
def __new__(cls, *args, **kwargs):
"""Returns environment specific wrapper based on input environment type.
Args:
args: positional arguments
kwargs: keyword arguments
Returns:
garage.envs.bullet.BulletEnv: if the environment is a bullet-based
environment. Else returns a garage.envs.GarageEnv
"""
# Determine if the input env is a bullet-based gym environment
env = None
if 'env' in kwargs: # env passed as a keyword arg
env = kwargs['env']
elif len(args) >= 1 and isinstance(args[0], TimeLimit):
# env passed as a positional arg
# only checks env created by gym.make(), which has type TimeLimit
env = args[0]
if env and any(env.env.spec.id == name
for name in _get_bullet_env_list()):
return BulletEnv(env)
env_name = ''
if 'env_name' in kwargs: # env_name as a keyword arg
env_name = kwargs['env_name']
elif len(args) >= 2:
# env_name as a positional arg
env_name = args[1]
if env_name != '' and any(env_name == name
for name in _get_bullet_env_list()):
return BulletEnv(gym.make(env_name))
return super(GarageEnv, cls).__new__(cls)
def test_pickle_creates_new_server(env_ids):
"""Test pickleing a Bullet environment creates a new connection.
If all pickleing create new connections, no repetition of client id
should be found.
"""
n_env = 4
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
if env_id == 'RacecarZedBulletEnv-v0':
bullet_env = BulletEnv(gym.make(env_id, renders=False))
else:
bullet_env = BulletEnv(gym.make(env_id))
envs = [pickle.loads(pickle.dumps(bullet_env)) for _ in range(n_env)]
id_set = set()
if hasattr(bullet_env.env, '_pybullet_client'):
id_set.add(bullet_env.env._pybullet_client._client)
for e in envs:
new_id = e._env._pybullet_client._client
assert new_id not in id_set
id_set.add(new_id)
elif hasattr(bullet_env.env, '_p'):
if isinstance(bullet_env.env._p, BulletClient):
id_set.add(bullet_env.env._p._client)
for e in envs:
new_id = e._env._p._client
assert new_id not in id_set
id_set.add(new_id)
else:
# Some environments have _p as the pybullet module, and they
# don't store client id, so can't check here
pass
def __new__(cls, *args, **kwargs):
"""Returns environment specific wrapper based on input environment type.
Args:
args: positional arguments
kwargs: keyword arguments
Returns:
garage.envs.bullet.BulletEnv: if the environment is a bullet-based
environment. Else returns a garage.envs.GarageEnv
"""
# pylint: disable=import-outside-toplevel
# Determine if the input env is a bullet-based gym environment
env = None
if 'env' in kwargs: # env passed as a keyword arg
env = kwargs['env']
elif len(args) >= 1 and isinstance(args[0], TimeLimit):
# env passed as a positional arg
# only checks env created by gym.make(), which has type TimeLimit
env = args[0]
if env and env.env.spec.id.find('Bullet') >= 0:
from garage.envs.bullet import BulletEnv
return BulletEnv(env)
env_name = ''
if 'env_name' in kwargs: # env_name as a keyword arg
env_name = kwargs['env_name']
elif len(args) >= 2:
# env_name as a positional arg
env_name = args[1]
if env_name != '' and env_name.find('Bullet') >= 0:
from garage.envs.bullet import BulletEnv
return BulletEnv(gym.make(env_name))
return super(GarageEnv, cls).__new__(cls)
def test_pickleable(env_ids):
"""Test Bullet environments are pickle-able"""
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
env = BulletEnv(env_name=env_id)
round_trip = pickle.loads(pickle.dumps(env))
assert round_trip
env.close()
def test_pickleable(env_ids):
"""Test Bullet environments are pickle-able"""
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
if env_id in _get_unsupported_env_list():
pytest.skip('Skip unsupported Bullet environments')
env = BulletEnv(env_name=env_id)
round_trip = pickle.loads(pickle.dumps(env))
assert round_trip
env.close()
def test_pickleable(env_ids):
"""Test Bullet environments are pickleable"""
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
if env_id == 'RacecarZedBulletEnv-v0':
env = BulletEnv(gym.make(env_id, renders=False))
else:
env = BulletEnv(gym.make(env_id))
round_trip = pickle.loads(pickle.dumps(env))
assert round_trip
def test_time_limit_env():
"""Test BulletEnv emits done signal when time limit expiration occurs.
After setting max_episode_steps=50, info['BulletEnv.TimeLimitTerminated']
is expected to be True after 50 steps.
"""
env = BulletEnv(gym.make('MinitaurBulletEnv-v0'))
env.env._max_episode_steps = 50
env.reset()
for _ in range(50):
_, _, done, info = env.step(env.spec.action_space.sample())
assert not done and info['TimeLimit.truncated']
assert info['BulletEnv.TimeLimitTerminated']
def test_can_step(env_ids):
"""Test Bullet environments can step"""
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
if env_id == 'KukaCamBulletEnv-v0':
# Kuka environments calls py_bullet.resetSimulation() in reset()
# unconditionally, which globally resets other simulations. So
# only one Kuka environment is tested.
continue
if env_id == 'RacecarZedBulletEnv-v0':
env = BulletEnv(gym.make(env_id, renders=False))
else:
env = BulletEnv(gym.make(env_id))
ob_space = env.observation_space
act_space = env.action_space
env.reset()
ob = ob_space.sample()
assert ob_space.contains(ob)
a = act_space.sample()
assert act_space.contains(a)
# Skip rendering because it causes TravisCI to run out of memory
step_env(env, render=False)
env.close()
def trpo_cartpole_bullet(ctxt=None, seed=1):
"""Train TRPO with Pybullet's CartPoleBulletEnv environment.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
"""
set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env = BulletEnv(
gym.make('CartPoleBulletEnv-v1',
renders=False,
discrete_actions=True))
policy = CategoricalMLPPolicy(name='policy',
env_spec=env.spec,
hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_episode_length=1000,
discount=0.99,
max_kl_step=0.01)
runner.setup(algo, env)
runner.train(n_epochs=100, batch_size=4000)
def step_bullet_kuka_env(n_steps=1000):
"""Load, step, and visualize a Bullet Kuka environment.
Args:
n_steps (int): number of steps to run.
"""
# Construct the environment
env = BulletEnv(
gym.make('KukaBulletEnv-v0',
renders=True,
isDiscrete=True,
maxSteps=10000000))
# Reset the environment and launch the viewer
env.reset()
env.render()
# Step randomly until interrupted
steps = 0
while steps < n_steps:
_, _, done, _ = env.step(env.action_space.sample())
if done:
break
steps += 1
def test_pickle_creates_new_server(env_ids):
"""Test pickling a Bullet environment creates a new connection.
If all pickling create new connections, no repetition of client id
should be found.
"""
n_env = 4
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
if env_id in _get_unsupported_env_list():
pytest.skip('Skip unsupported Bullet environments')
bullet_env = BulletEnv(env_name=env_id)
envs = [pickle.loads(pickle.dumps(bullet_env)) for _ in range(n_env)]
id_set = set()
if hasattr(bullet_env.env, '_pybullet_client'):
id_set.add(bullet_env.env._pybullet_client._client)
for e in envs:
new_id = e._env._pybullet_client._client
assert new_id not in id_set
id_set.add(new_id)
elif hasattr(bullet_env.env, '_p'):
if isinstance(bullet_env.env._p, BulletClient):
id_set.add(bullet_env.env._p._client)
for e in envs:
new_id = e._env._p._client
assert new_id not in id_set
id_set.add(new_id)
else:
# Some environments have _p as the pybullet module, and they
# don't store client id, so can't check here
pass
for env in envs:
env.close()
def test_can_step(env_ids):
"""Test Bullet environments can step"""
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
if env_id in ('KukaCamBulletEnv-v0', 'KukaDiverseObjectGrasping-v0'):
# Kuka environments calls pybullet.resetSimulation() in reset()
# unconditionally, which globally resets other simulations. So
# only one Kuka environment is tested.
continue
env = BulletEnv(env_id)
ob_space = env.observation_space
act_space = env.action_space
env.reset()
ob = ob_space.sample()
assert ob_space.contains(ob)
a = act_space.sample()
assert act_space.contains(a)
# Skip rendering because it causes TravisCI to run out of memory
step_env(env, visualize=False)
env.close()
