110 lines
3.5 KiB
Python
110 lines
3.5 KiB
Python
import logging
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import pickle
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from tianshou.env import BaseVectorEnv, VectorEnvNormObs
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from tianshou.highlevel.env import (
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ContinuousEnvironments,
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EnvFactoryRegistered,
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EnvMode,
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EnvPoolFactory,
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VectorEnvType,
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)
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from tianshou.highlevel.persistence import Persistence, PersistEvent, RestoreEvent
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from tianshou.highlevel.world import World
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envpool_is_available = True
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try:
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import envpool
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except ImportError:
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envpool_is_available = False
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envpool = None
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log = logging.getLogger(__name__)
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def make_mujoco_env(task: str, seed: int, num_train_envs: int, num_test_envs: int, obs_norm: bool):
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"""Wrapper function for Mujoco env.
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If EnvPool is installed, it will automatically switch to EnvPool's Mujoco env.
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:return: a tuple of (single env, training envs, test envs).
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"""
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envs = MujocoEnvFactory(task, seed, seed + num_train_envs, obs_norm=obs_norm).create_envs(
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num_train_envs,
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num_test_envs,
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)
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return envs.env, envs.train_envs, envs.test_envs
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class MujocoEnvObsRmsPersistence(Persistence):
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FILENAME = "env_obs_rms.pkl"
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def persist(self, event: PersistEvent, world: World) -> None:
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if event != PersistEvent.PERSIST_POLICY:
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return
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obs_rms = world.envs.train_envs.get_obs_rms()
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path = world.persist_path(self.FILENAME)
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log.info(f"Saving environment obs_rms value to {path}")
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with open(path, "wb") as f:
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pickle.dump(obs_rms, f)
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def restore(self, event: RestoreEvent, world: World):
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if event != RestoreEvent.RESTORE_POLICY:
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return
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path = world.restore_path(self.FILENAME)
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log.info(f"Restoring environment obs_rms value from {path}")
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with open(path, "rb") as f:
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obs_rms = pickle.load(f)
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world.envs.train_envs.set_obs_rms(obs_rms)
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world.envs.test_envs.set_obs_rms(obs_rms)
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if world.envs.watch_env is not None:
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world.envs.watch_env.set_obs_rms(obs_rms)
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class MujocoEnvFactory(EnvFactoryRegistered):
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def __init__(
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self,
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task: str,
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train_seed: int,
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test_seed: int,
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obs_norm: bool = True,
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venv_type: VectorEnvType = VectorEnvType.SUBPROC_SHARED_MEM,
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) -> None:
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super().__init__(
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task=task,
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train_seed=train_seed,
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test_seed=test_seed,
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venv_type=venv_type,
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envpool_factory=EnvPoolFactory() if envpool_is_available else None,
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)
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self.obs_norm = obs_norm
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def create_venv(self, num_envs: int, mode: EnvMode) -> BaseVectorEnv:
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"""Create vectorized environments.
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:param num_envs: the number of environments
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:param mode: the mode for which to create
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:return: the vectorized environments
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"""
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env = super().create_venv(num_envs, mode)
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# obs norm wrapper
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if self.obs_norm:
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env = VectorEnvNormObs(env, update_obs_rms=mode == EnvMode.TRAIN)
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return env
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def create_envs(
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self,
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num_training_envs: int,
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num_test_envs: int,
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create_watch_env: bool = False,
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) -> ContinuousEnvironments:
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envs = super().create_envs(num_training_envs, num_test_envs, create_watch_env)
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assert isinstance(envs, ContinuousEnvironments)
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if self.obs_norm:
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envs.test_envs.set_obs_rms(envs.train_envs.get_obs_rms())
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if envs.watch_env is not None:
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envs.watch_env.set_obs_rms(envs.train_envs.get_obs_rms())
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envs.set_persistence(MujocoEnvObsRmsPersistence())
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return envs
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