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