path: root/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py

#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir)

import gym
import numpy as np
import pybullet_envs
import os.path
import time


def relu(x):
  return np.maximum(x, 0)


class SmallReactivePolicy:
  "Simple multi-layer perceptron policy, no internal state"

  def __init__(self, observation_space, action_space):
    assert weights_dense1_w.shape == (observation_space.shape[0], 256)
    assert weights_dense2_w.shape == (256, 128)
    assert weights_final_w.shape == (128, action_space.shape[0])

  def act(self, ob):
    x = ob
    x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
    x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
    x = np.dot(x, weights_final_w) + weights_final_b
    return x


def demo_run():
  gui = True
  env = gym.make("HumanoidFlagrunHarderBulletEnv-v0")
  if (gui):
    env.render(mode="human")

  pi = SmallReactivePolicy(env.observation_space, env.action_space)
  while 1:
    frame = 0
    score = 0
    restart_delay = 0
    obs = env.reset()

    while 1:
      if (gui):
        time.sleep(1. / 60)

      a = pi.act(obs)
      obs, r, done, _ = env.step(a)
      score += r
      frame += 1

      still_open = env.render("human")

      if still_open == False:
        return
      if not done: continue
      if restart_delay == 0:
        print("score=%0.2f in %i frames" % (score, frame))
        if still_open != True:  # not True in multiplayer or non-Roboschool environment
          break
        restart_delay = 60 * 2  # 2 sec at 60 fps
      restart_delay -= 1
      if restart_delay == 0: break


# yapf: disable
weights_dense1_w = np.array(
    [[
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        +0.4746, -0.5833, -0.4251, +0.5949, +0.6170, -0.2344, +0.1624, -0.7524,
        -0.1314, +0.3180, -0.3183, -0.5343, +0.6109, -0.0071, +0.0890, +0.1470,
        +0.3201, -0.1915, -0.1192, -0.2254, +0.1921, +0.5020, +0.8814, +0.7632,
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        -0.3085, -0.0548, +0.4256, +0.5690, -0.2243, +0.4055, +0.7467, +0.2371,
        -0.1666, -0.3083, -0.2019, -0.1256, -0.2922, -0.0295, -0.1915, +0.4345,
        +0.4745, +0.4599, +0.7173, +0.1671, -0.1942, +0.6437, +0.1593, -0.2243,
        -0.3772, +0.0888, +0.0181, +1.5305, +0.1103, -0.0983, +0.5553, -0.2304,
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        -0.5980, +0.1655, +0.3442, -0.0285, +0.4722, -0.4559, -0.8286, +0.2297,
        +0.1441, +0.5148, +0.9493, +0.3310, +0.1502, +0.1993, +0.4227, +0.8433,
        -0.3427, +0.7080, +0.3844, +0.4788, +0.0027, +0.0413, -0.2622, -0.2789,
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        +0.2409, +0.8089, +0.2216, +0.7449, +0.1001, -0.0277, -0.2632, +0.0697,
        +0.2002, +0.4163, -0.1231, +0.3181, +0.4182, +0.9432, +0.5265, +0.0247,
        +0.0824, +0.2249, -0.5920, +0.1227, -0.4454, +0.2406, +0.2175, +0.4905,
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    ],
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weights_dense1_b = np.array([
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weights_dense2_w = np.array(
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weights_final_w = np.array(
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         +0.3302, +0.0052, -0.0643
     ],
     [
         +0.1751, -0.3577, +0.0741, -0.0451, -0.0270, -0.0501, +0.1754,
         -0.4259, +0.0053, -0.1944, +0.0852, -0.5543, +0.3060, +0.2323,
         +0.5691, -0.0617, +0.0329
     ],
     [
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     ],
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         +0.2935, +0.0019, +0.3177, -0.0683, -0.4946, +0.2040, +0.2826,
         -0.1606, -0.4582, +0.2052
     ],
     [
         +0.0825, -0.2587, -0.6098, -0.7666, -0.1891, +0.1545, -0.1752,
         -0.1813, -0.3137, -0.1742, -0.0400, +0.3352, -0.3175, +0.0617,
         +0.2097, -0.1684, -0.0412
     ],
     [
         -0.1112, +0.2379, -0.0920, -0.0707, -0.0307, +0.0797, -0.1313,
         -0.1122, -0.3038, +0.0529, -0.3645, -0.2686, +0.0730, -0.0592,
         -0.0104, +0.1403, +0.0906
     ],
     [
         +0.3680, +0.0528, +0.1097, +0.1391, -0.0911, +0.0238, +0.0677,
         +0.1313, -0.3832, -0.0146, +0.3670, -0.3521, -0.0276, +0.1317,
         +0.1161, -0.2734, +0.0763
     ],
     [
         +0.1579, +0.1185, +0.2387, -0.5239, -0.3156, -0.0856, +0.1244,
         -0.2377, -0.0763, +0.1003, -0.1049, -0.3365, +0.0325, -0.0759,
         -0.1114, -0.1658, -0.1217
     ],
     [
         -0.1804, -0.4128, +0.1567, +0.5702, -0.3200, +0.0408, -0.0244,
         -0.0840, -0.0527, -0.1145, +0.1109, +0.2210, +0.3458, +0.0023,
         -0.3264, -0.4558, +0.1183
     ],
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         +0.1144, -0.0813, +0.0920, +0.3396, +0.0104, +0.1072, -0.0226,
         -0.1626, -0.1254, +0.1932
     ],
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         -0.0921, -0.0607, +0.1297
     ],
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         +0.1671, +0.0621, +0.1772
     ],
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         -0.2256, -0.2866, +0.0928
     ],
     [
         -0.1124, +0.0442, +0.3579, +0.1774, +0.1772, +0.2148, +0.2384,
         +0.2642, -0.0853, -0.7385, +0.1676, -0.0897, -0.0031, +0.0578,
         -0.0487, -0.0222, +0.1840
     ],
     [
         -0.1470, +0.0944, +0.3412, +0.3212, +0.2143, +0.3426, -0.1407,
         -0.0518, -0.3807, -0.0837, -0.0714, +0.2675, -0.3793, -0.3674,
         -0.3998, +0.0780, +0.0363
     ],
     [
         -0.3876, -0.0642, +0.0959, -0.2092, -0.0610, +0.2080, +0.1597,
         -0.1985, +0.0557, -0.1315, -0.1643, +0.2609, +0.4146, -0.0175,
         +0.2486, -0.1299, +0.0421
     ],
     [
         -0.2262, -0.1184, +0.2385, -0.7373, -0.0148, +0.1660, +0.2681,
         -0.0921, +0.1252, -0.2751, -0.1190, -0.8493, +0.1025, +0.1227,
         -0.4286, +0.5744, -0.0405
     ],
     [
         -0.0374, +0.0379, -0.4226, -0.1330, +0.1566, +0.0088, -0.0520,
         -0.0289, -0.1716, +0.0312, +0.0962, +0.3347, +0.5196, +0.0220,
         -0.1559, -0.3106, +0.2403
     ],
     [
         +0.0513, +0.4744, -0.0200, +0.2514, +0.3022, +0.0020, +0.4068,
         +0.9192, +0.1873, +0.0072, +0.2791, +0.2587, +0.2999, +0.2515,
         +0.2632, -0.2145, -0.1129
     ],
     [
         -0.0104, +0.0656, +0.3292, -0.1732, -0.1230, +0.2711, +0.1398,
         -0.5466, -0.4228, -0.0740, +0.2116, +0.3474, +0.0030, -0.0176,
         +0.3739, -0.1911, -0.0056
     ]])

weights_final_b = np.array([
    +0.0149, +0.1334, -0.1019, -0.0498, +0.0919, -0.2079, +0.1914, -0.0708,
    +0.0737, -0.1228, +0.0112, -0.0441, +0.0087, -0.1149, +0.0063, +0.0170,
    -0.0965
])
# yapf: enable

if __name__ == "__main__":
  demo_run()