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env.py
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env.py
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#!/usr/local/bin/python3
# The MIT License (MIT)
# Copyright (c) 2022 Prasanth Suresh and Yikang Gui
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
import gym
gym.logger.set_level(40)
def make_env(env_id):
return NormalizedEnv(gym.make(env_id))
class NormalizedEnv(gym.Wrapper):
def __init__(self, env):
gym.Wrapper.__init__(self, env)
self._max_episode_steps = env._max_episode_steps
if hasattr(env.action_space, 'high'):
self.scale = env.action_space.high
self.action_space.high /= self.scale
self.action_space.low /= self.scale
self.action_discrete = False
else:
self.action_discrete = True
self.scale = 1
def step(self, action):
if self.action_discrete:
return self.env.step(int(action.item()))
else:
return self.env.step(action * self.scale)