File size: 2,188 Bytes
d643f40 33f6fc2 d643f40 33f6fc2 d643f40 33f6fc2 d643f40 33f6fc2 d643f40 33f6fc2 d643f40 33f6fc2 d643f40 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 |
import numpy as np
from gym.wrappers.monitoring.video_recorder import VideoRecorder
from rl_algo_impls.wrappers.vectorable_wrapper import (
VecEnvObs,
VecEnvStepReturn,
VecotarableWrapper,
)
class VecEpisodeRecorder(VecotarableWrapper):
def __init__(
self, env, base_path: str, max_video_length: int = 3600, num_episodes: int = 1
):
super().__init__(env)
self.base_path = base_path
self.max_video_length = max_video_length
self.num_episodes = num_episodes
self.video_recorder = None
self.recorded_frames = 0
self.num_completed = 0
def step(self, actions: np.ndarray) -> VecEnvStepReturn:
obs, rew, dones, infos = self.env.step(actions)
# Using first env to record episodes
if self.video_recorder:
self.video_recorder.capture_frame()
self.recorded_frames += 1
if dones[0]:
self.num_completed += 1
if dones[0] and infos[0].get("episode"):
episode_info = {
k: v.item() if hasattr(v, "item") else v
for k, v in infos[0]["episode"].items()
}
if "episodes" not in self.video_recorder.metadata:
self.video_recorder.metadata["episodes"] = []
self.video_recorder.metadata["episodes"].append(episode_info)
if (
self.num_completed == self.num_episodes
or self.recorded_frames > self.max_video_length
):
self._close_video_recorder()
return obs, rew, dones, infos
def reset(self) -> VecEnvObs:
obs = self.env.reset()
self._start_video_recorder()
return obs
def _start_video_recorder(self) -> None:
self._close_video_recorder()
self.video_recorder = VideoRecorder(
self.env,
base_path=self.base_path,
)
self.video_recorder.capture_frame()
self.recorded_frames = 1
def _close_video_recorder(self) -> None:
if self.video_recorder:
self.video_recorder.close()
self.video_recorder = None
|