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January 7, 2021 15:54
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How to make a GIF from MuJoCo environment observations programmatically.
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| import gym | |
| import numpy as np | |
| import imageio | |
| # Make the environment and the initial observation `o`. | |
| env_name = 'Walker2d-v3' | |
| env = gym.make(env_name) | |
| obs_dim = env.observation_space.shape | |
| act_dim = env.action_space.shape[0] | |
| act_limit = env.action_space.high[0] | |
| o = env.reset() | |
| # Book-keeping. | |
| num_episodes = 3 | |
| ep_ret = 0 | |
| ep_len = 0 | |
| ep_done = 0 | |
| ep_obs = [] | |
| # For video / GIF. | |
| dur = 0.01 | |
| width = 250 | |
| height = 200 | |
| while ep_done < num_episodes: | |
| obs = env.render(mode='rgb_array', width=width, height=height) | |
| assert obs.shape == (height, width, 3), obs.shape # height first! | |
| ep_obs.append(obs) | |
| # Take action, step into environment, etc. | |
| a = np.random.randn(act_dim) | |
| a = np.clip(a, -act_limit, act_limit) | |
| o, r, d, _ = env.step(a) | |
| ep_ret += r | |
| ep_len += 1 | |
| if d: | |
| # Form GIF. imageio should read from numpy: https://imageio.github.io/ | |
| print(f'Episode {ep_done}, cum. return: {ep_ret:0.1f}, length: {ep_len}.') | |
| ep_name = f'ep_{env_name}_{str(ep_done).zfill(2)}_dur_{dur}_len_{str(ep_len).zfill(3)}.gif' | |
| with imageio.get_writer(ep_name, mode='I', duration=dur) as writer: | |
| for obs_np in ep_obs: | |
| writer.append_data(obs_np) | |
| # Reset information. | |
| o = env.reset() | |
| ep_ret = 0 | |
| ep_len = 0 | |
| ep_done += 1 | |
| ep_obs = [] |
Mostly installed from spinningup conda env.
(spinningup) daniel@takeshi:~ $ conda list
# packages in environment at /home/daniel/miniconda3/envs/spinningup:
#
# Name Version Build Channel
_libgcc_mutex 0.1 main
absl-py 0.11.0 pypi_0 pypi
astor 0.8.1 pypi_0 pypi
atari-py 0.2.6 pypi_0 pypi
attrs 20.3.0 pypi_0 pypi
backcall 0.2.0 pypi_0 pypi
box2d-py 2.3.8 pypi_0 pypi
ca-certificates 2020.10.14 0
cached-property 1.5.2 pypi_0 pypi
certifi 2020.6.20 pyhd3eb1b0_3
cloudpickle 1.2.1 pypi_0 pypi
cycler 0.10.0 pypi_0 pypi
decorator 4.4.2 pypi_0 pypi
future 0.18.2 pypi_0 pypi
gast 0.2.2 pypi_0 pypi
google-pasta 0.2.0 pypi_0 pypi
grpcio 1.33.2 pypi_0 pypi
gym 0.15.7 pypi_0 pypi
h5py 3.1.0 pypi_0 pypi
importlib-metadata 2.0.0 pypi_0 pypi
iniconfig 1.1.1 pypi_0 pypi
ipython 7.16.1 pypi_0 pypi
ipython-genutils 0.2.0 pypi_0 pypi
jedi 0.17.2 pypi_0 pypi
joblib 0.17.0 pypi_0 pypi
keras-applications 1.0.8 pypi_0 pypi
keras-preprocessing 1.1.2 pypi_0 pypi
kiwisolver 1.3.1 pypi_0 pypi
ld_impl_linux-64 2.33.1 h53a641e_7
libedit 3.1.20191231 h14c3975_1
libffi 3.3 he6710b0_2
libgcc-ng 9.1.0 hdf63c60_0
libstdcxx-ng 9.1.0 hdf63c60_0
markdown 3.3.3 pypi_0 pypi
matplotlib 3.1.1 pypi_0 pypi
mpi4py 3.0.3 pypi_0 pypi
mujoco-py 2.0.2.13 pypi_0 pypi
ncurses 6.2 he6710b0_1
opencv-python 4.4.0.46 pypi_0 pypi
openssl 1.1.1h h7b6447c_0
opt-einsum 3.3.0 pypi_0 pypi
packaging 20.4 pypi_0 pypi
pandas 1.1.4 pypi_0 pypi
parso 0.7.1 pypi_0 pypi
patchelf 0.12 he6710b0_0
pexpect 4.8.0 pypi_0 pypi
pickleshare 0.7.5 pypi_0 pypi
pip 20.2.4 py36h06a4308_0
pluggy 0.13.1 pypi_0 pypi
prompt-toolkit 3.0.8 pypi_0 pypi
protobuf 3.13.0 pypi_0 pypi
psutil 5.7.3 pypi_0 pypi
ptyprocess 0.6.0 pypi_0 pypi
py 1.9.0 pypi_0 pypi
pyglet 1.5.0 pypi_0 pypi
pygments 2.7.2 pypi_0 pypi
pyparsing 2.4.7 pypi_0 pypi
pytest 6.1.2 pypi_0 pypi
python 3.6.12 hcff3b4d_2
python-dateutil 2.8.1 pypi_0 pypi
pytz 2020.4 pypi_0 pypi
readline 8.0 h7b6447c_0
scipy 1.5.4 pypi_0 pypi
seaborn 0.8.1 pypi_0 pypi
setuptools 50.3.1 py36h06a4308_1
spinup 0.2.0 dev_0 <develop>
sqlite 3.33.0 h62c20be_0
tensorboard 1.15.0 pypi_0 pypi
tensorflow 1.15.4 pypi_0 pypi
tensorflow-estimator 1.15.1 pypi_0 pypi
termcolor 1.1.0 pypi_0 pypi
tk 8.6.10 hbc83047_0
toml 0.10.2 pypi_0 pypi
torch 1.3.1 pypi_0 pypi
tqdm 4.51.0 pypi_0 pypi
traitlets 4.3.3 pypi_0 pypi
wcwidth 0.2.5 pypi_0 pypi
werkzeug 1.0.1 pypi_0 pypi
wheel 0.35.1 py_0
wrapt 1.12.1 pypi_0 pypi
xz 5.2.5 h7b6447c_0
zipp 3.4.0 pypi_0 pypi
zlib 1.2.11 h7b6447c_3
Note: I do NOT do export LD_PRELOAD=... as in some solutions for getting MuJoCo to work. That will cause problems with RGB array mode.
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Three episodes for each, with a random policy so it's bad. :D
HalfCheetah-v3
(Oops, file sizes are slightly bigger than 10MB, since episode lengths are 1000)
Hopper-v3
Walker2d-v3