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Allow examine_env to load hard coded policies #87

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Merged
vikashplus merged 3 commits into from
May 1, 2023
Merged

Allow examine_env to load hard coded policies #87

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8c68c63
Allow examine_envs to load hard coded policies, e.g. python robohive/…
May 1, 2023
365e468
Remove unnecessary import
May 1, 2023
95b2f3a
examine_env loading scripted polcies: update DESC in examine_env and …
May 1, 2023
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29 changes: 21 additions & 8 deletions robohive/utils/examine_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,14 @@ def __init__(self, env, seed):

def get_action(self, obs):
# return self.env.np_random.uniform(high=self.env.action_space.high, low=self.env.action_space.low)
return self.env.action_space.sample(), {'mode': 'random samples'}
return self.env.action_space.sample(), {'mode': 'random samples', 'evaluation':self.env.action_space.sample()}

def load_class_from_str(module_name, class_name):
try:
m = __import__(module_name, globals(), locals(), class_name)
return getattr(m, class_name)
except (ImportError, AttributeError):
return None

# MAIN =========================================================
@click.command(help=DESC)
Expand All @@ -57,13 +64,19 @@ def main(env_name, policy_path, mode, seed, num_episodes, render, camera_name, o

# resolve policy and outputs
if policy_path is not None:
pi = pickle.load(open(policy_path, 'rb'))
if output_dir == './': # overide the default
output_dir, pol_name = os.path.split(policy_path)
output_name = os.path.splitext(pol_name)[0]
if output_name is None:
pol_name = os.path.split(policy_path)[1]
output_name = os.path.splitext(pol_name)[0]
policy_tokens = policy_path.split('.')
pi = load_class_from_str('.'.join(policy_tokens[:-1]), policy_tokens[-1])

if pi is not None:
pi = pi(env, seed)
else:
pi = pickle.load(open(policy_path, 'rb'))
if output_dir == './': # overide the default
output_dir, pol_name = os.path.split(policy_path)
output_name = os.path.splitext(pol_name)[0]
if output_name is None:
pol_name = os.path.split(policy_path)[1]
output_name = os.path.splitext(pol_name)[0]
else:
pi = rand_policy(env, seed)
mode = 'exploration'
Expand Down