85 lines
2.9 KiB
Python
85 lines
2.9 KiB
Python
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# Copyright 2018 The dm_control Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ============================================================================
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"""Control suite environments explorer."""
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from __future__ import absolute_import
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from __future__ import division
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from __future__ import print_function
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from absl import app
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from absl import flags
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from dm_control import suite
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from dm_control.suite.wrappers import action_noise
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from six.moves import input
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from dm_control import viewer
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_ALL_NAMES = ['.'.join(domain_task) for domain_task in suite.ALL_TASKS]
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flags.DEFINE_enum('environment_name', None, _ALL_NAMES,
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'Optional \'domain_name.task_name\' pair specifying the '
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'environment to load. If unspecified a prompt will appear to '
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'select one.')
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flags.DEFINE_bool('timeout', True, 'Whether episodes should have a time limit.')
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flags.DEFINE_bool('visualize_reward', True,
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'Whether to vary the colors of geoms according to the '
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'current reward value.')
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flags.DEFINE_float('action_noise', 0.,
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'Standard deviation of Gaussian noise to apply to actions, '
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'expressed as a fraction of the max-min range for each '
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'action dimension. Defaults to 0, i.e. no noise.')
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FLAGS = flags.FLAGS
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def prompt_environment_name(prompt, values):
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environment_name = None
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while not environment_name:
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environment_name = input(prompt)
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if not environment_name or values.index(environment_name) < 0:
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print('"%s" is not a valid environment name.' % environment_name)
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environment_name = None
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return environment_name
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def main(argv):
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del argv
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environment_name = FLAGS.environment_name
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if environment_name is None:
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print('\n '.join(['Available environments:'] + _ALL_NAMES))
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environment_name = prompt_environment_name(
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'Please select an environment name: ', _ALL_NAMES)
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index = _ALL_NAMES.index(environment_name)
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domain_name, task_name = suite.ALL_TASKS[index]
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task_kwargs = {}
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if not FLAGS.timeout:
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task_kwargs['time_limit'] = float('inf')
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def loader():
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env = suite.load(
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domain_name=domain_name, task_name=task_name, task_kwargs=task_kwargs)
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env.task.visualize_reward = FLAGS.visualize_reward
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if FLAGS.action_noise > 0:
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env = action_noise.Wrapper(env, scale=FLAGS.action_noise)
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return env
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viewer.launch(loader)
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if __name__ == '__main__':
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app.run(main)
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