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< span id = "example-general" > < / span > < h1 > General Usage Examples< a class = "headerlink" href = "#general-usage-examples" title = "Permalink to this heading" > < / a > < / h1 >
< div class = "highlight-python notranslate" > < div class = "highlight" > < pre > < span > < / span > < span class = "linenos" > 1< / span > < span class = "kn" > from< / span > < span class = "nn" > collections< / span > < span class = "kn" > import< / span > < span class = "n" > defaultdict< / span >
< span class = "linenos" > 2< / span >
< span class = "linenos" > 3< / span > < span class = "kn" > import< / span > < span class = "nn" > gymnasium< / span > < span class = "k" > as< / span > < span class = "nn" > gym< / span >
< span class = "linenos" > 4< / span > < span class = "kn" > import< / span > < span class = "nn" > numpy< / span > < span class = "k" > as< / span > < span class = "nn" > np< / span >
< span class = "linenos" > 5< / span >
< span class = "linenos" > 6< / span > < span class = "kn" > import< / span > < span class = "nn" > fancy_gym< / span >
< span class = "linenos" > 7< / span >
< span class = "linenos" > 8< / span >
< span class = "linenos" > 9< / span > < span class = "k" > def< / span > < span class = "nf" > example_general< / span > < span class = "p" > (< / span > < span class = "n" > env_id< / span > < span class = "o" > =< / span > < span class = "s2" > " Pendulum-v1" < / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 1< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 1000< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "kc" > True< / span > < span class = "p" > ):< / span >
< span class = "linenos" > 10< / span > < span class = "w" > < / span > < span class = "sd" > " " " < / span >
< span class = "linenos" > 11< / span > < span class = "sd" > Example for running any env in the step based setting.< / span >
< span class = "linenos" > 12< / span > < span class = "sd" > This also includes DMC environments when leveraging our custom make_env function.< / span >
< span class = "linenos" > 13< / span >
< span class = "linenos" > 14< / span > < span class = "sd" > Args:< / span >
< span class = "linenos" > 15< / span > < span class = "sd" > env_id: OpenAI/Custom gym task id or either `domain_name-task_name` or `manipulation-environment_name` for DMC tasks< / span >
< span class = "linenos" > 16< / span > < span class = "sd" > seed: seed for deterministic behaviour< / span >
< span class = "linenos" > 17< / span > < span class = "sd" > iterations: Number of rollout steps to run< / span >
< span class = "linenos" > 18< / span > < span class = "sd" > render: Render the episode< / span >
< span class = "linenos" > 19< / span >
< span class = "linenos" > 20< / span > < span class = "sd" > Returns:< / span >
< span class = "linenos" > 21< / span >
< span class = "linenos" > 22< / span > < span class = "sd" > " " " < / span >
< span class = "linenos" > 23< / span >
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< span class = "linenos" > 24< / span > < span class = "n" > env< / span > < span class = "o" > =< / span > < span class = "n" > gym< / span > < span class = "o" > .< / span > < span class = "n" > make< / span > < span class = "p" > (< / span > < span class = "n" > env_id< / span > < span class = "p" > ,< / span > < span class = "n" > render_mode< / span > < span class = "o" > =< / span > < span class = "s1" > ' human' < / span > < span class = "k" > if< / span > < span class = "n" > render< / span > < span class = "k" > else< / span > < span class = "kc" > None< / span > < span class = "p" > )< / span >
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< span class = "linenos" > 25< / span > < span class = "n" > rewards< / span > < span class = "o" > =< / span > < span class = "mi" > 0< / span >
< span class = "linenos" > 26< / span > < span class = "n" > obs< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > reset< / span > < span class = "p" > (< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "n" > seed< / span > < span class = "p" > )< / span >
< span class = "linenos" > 27< / span > < span class = "nb" > print< / span > < span class = "p" > (< / span > < span class = "s2" > " Observation shape: " < / span > < span class = "p" > ,< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > observation_space< / span > < span class = "o" > .< / span > < span class = "n" > shape< / span > < span class = "p" > )< / span >
< span class = "linenos" > 28< / span > < span class = "nb" > print< / span > < span class = "p" > (< / span > < span class = "s2" > " Action shape: " < / span > < span class = "p" > ,< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > action_space< / span > < span class = "o" > .< / span > < span class = "n" > shape< / span > < span class = "p" > )< / span >
< span class = "linenos" > 29< / span >
< span class = "linenos" > 30< / span > < span class = "c1" > # number of environment steps< / span >
< span class = "linenos" > 31< / span > < span class = "k" > for< / span > < span class = "n" > i< / span > < span class = "ow" > in< / span > < span class = "nb" > range< / span > < span class = "p" > (< / span > < span class = "n" > iterations< / span > < span class = "p" > ):< / span >
< span class = "linenos" > 32< / span > < span class = "n" > obs< / span > < span class = "p" > ,< / span > < span class = "n" > reward< / span > < span class = "p" > ,< / span > < span class = "n" > terminated< / span > < span class = "p" > ,< / span > < span class = "n" > truncated< / span > < span class = "p" > ,< / span > < span class = "n" > info< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > step< / span > < span class = "p" > (< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > action_space< / span > < span class = "o" > .< / span > < span class = "n" > sample< / span > < span class = "p" > ())< / span >
< span class = "linenos" > 33< / span > < span class = "n" > rewards< / span > < span class = "o" > +=< / span > < span class = "n" > reward< / span >
< span class = "linenos" > 34< / span >
< span class = "linenos" > 35< / span > < span class = "k" > if< / span > < span class = "n" > render< / span > < span class = "p" > :< / span >
< span class = "linenos" > 36< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > render< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 37< / span >
< span class = "linenos" > 38< / span > < span class = "k" > if< / span > < span class = "n" > terminated< / span > < span class = "ow" > or< / span > < span class = "n" > truncated< / span > < span class = "p" > :< / span >
< span class = "linenos" > 39< / span > < span class = "nb" > print< / span > < span class = "p" > (< / span > < span class = "n" > rewards< / span > < span class = "p" > )< / span >
< span class = "linenos" > 40< / span > < span class = "n" > rewards< / span > < span class = "o" > =< / span > < span class = "mi" > 0< / span >
< span class = "linenos" > 41< / span > < span class = "n" > obs< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > reset< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 42< / span >
< span class = "linenos" > 43< / span >
< span class = "linenos" > 44< / span > < span class = "k" > def< / span > < span class = "nf" > example_async< / span > < span class = "p" > (< / span > < span class = "n" > env_id< / span > < span class = "o" > =< / span > < span class = "s2" > " fancy/HoleReacher-v0" < / span > < span class = "p" > ,< / span > < span class = "n" > n_cpu< / span > < span class = "o" > =< / span > < span class = "mi" > 4< / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "nb" > int< / span > < span class = "p" > (< / span > < span class = "s1" > ' 533D' < / span > < span class = "p" > ,< / span > < span class = "mi" > 16< / span > < span class = "p" > ),< / span > < span class = "n" > n_samples< / span > < span class = "o" > =< / span > < span class = "mi" > 800< / span > < span class = "p" > ):< / span >
< span class = "linenos" > 45< / span > < span class = "w" > < / span > < span class = "sd" > " " " < / span >
< span class = "linenos" > 46< / span > < span class = "sd" > Example for running any env in a vectorized multiprocessing setting to generate more samples faster.< / span >
< span class = "linenos" > 47< / span > < span class = "sd" > This also includes DMC and DMP environments when leveraging our custom make_env function.< / span >
< span class = "linenos" > 48< / span > < span class = "sd" > Be aware, increasing the number of environments reduces the total length of the individual episodes.< / span >
< span class = "linenos" > 49< / span >
< span class = "linenos" > 50< / span > < span class = "sd" > Args:< / span >
< span class = "linenos" > 51< / span > < span class = "sd" > env_id: OpenAI/Custom gym task id or either `domain_name-task_name` or `manipulation-environment_name` for DMC tasks< / span >
< span class = "linenos" > 52< / span > < span class = "sd" > seed: seed for deterministic behaviour< / span >
< span class = "linenos" > 53< / span > < span class = "sd" > n_cpu: Number of cpus cores to use in parallel< / span >
< span class = "linenos" > 54< / span > < span class = "sd" > n_samples: number of samples generated in total by all environments.< / span >
< span class = "linenos" > 55< / span >
< span class = "linenos" > 56< / span > < span class = "sd" > Returns: Tuple of (obs, reward, done, info) with type np.ndarray< / span >
< span class = "linenos" > 57< / span >
< span class = "linenos" > 58< / span > < span class = "sd" > " " " < / span >
< span class = "linenos" > 59< / span > < span class = "n" > env< / span > < span class = "o" > =< / span > < span class = "n" > gym< / span > < span class = "o" > .< / span > < span class = "n" > vector< / span > < span class = "o" > .< / span > < span class = "n" > AsyncVectorEnv< / span > < span class = "p" > ([< / span > < span class = "n" > fancy_gym< / span > < span class = "o" > .< / span > < span class = "n" > make_rank< / span > < span class = "p" > (< / span > < span class = "n" > env_id< / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "p" > ,< / span > < span class = "n" > i< / span > < span class = "p" > )< / span > < span class = "k" > for< / span > < span class = "n" > i< / span > < span class = "ow" > in< / span > < span class = "nb" > range< / span > < span class = "p" > (< / span > < span class = "n" > n_cpu< / span > < span class = "p" > )])< / span >
< span class = "linenos" > 60< / span > < span class = "c1" > # OR< / span >
< span class = "linenos" > 61< / span > < span class = "c1" > # envs = gym.vector.AsyncVectorEnv([make_env(env_id, seed + i) for i in range(n_cpu)])< / span >
< span class = "linenos" > 62< / span >
< span class = "linenos" > 63< / span > < span class = "c1" > # for plotting< / span >
< span class = "linenos" > 64< / span > < span class = "n" > rewards< / span > < span class = "o" > =< / span > < span class = "n" > np< / span > < span class = "o" > .< / span > < span class = "n" > zeros< / span > < span class = "p" > (< / span > < span class = "n" > n_cpu< / span > < span class = "p" > )< / span >
< span class = "linenos" > 65< / span > < span class = "n" > buffer< / span > < span class = "o" > =< / span > < span class = "n" > defaultdict< / span > < span class = "p" > (< / span > < span class = "nb" > list< / span > < span class = "p" > )< / span >
< span class = "linenos" > 66< / span >
< span class = "linenos" > 67< / span > < span class = "n" > obs< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > reset< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 68< / span >
< span class = "linenos" > 69< / span > < span class = "c1" > # this would generate more samples than requested if n_samples % num_envs != 0< / span >
< span class = "linenos" > 70< / span > < span class = "n" > repeat< / span > < span class = "o" > =< / span > < span class = "nb" > int< / span > < span class = "p" > (< / span > < span class = "n" > np< / span > < span class = "o" > .< / span > < span class = "n" > ceil< / span > < span class = "p" > (< / span > < span class = "n" > n_samples< / span > < span class = "o" > /< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > num_envs< / span > < span class = "p" > ))< / span >
< span class = "linenos" > 71< / span > < span class = "k" > for< / span > < span class = "n" > i< / span > < span class = "ow" > in< / span > < span class = "nb" > range< / span > < span class = "p" > (< / span > < span class = "n" > repeat< / span > < span class = "p" > ):< / span >
< span class = "linenos" > 72< / span > < span class = "n" > obs< / span > < span class = "p" > ,< / span > < span class = "n" > reward< / span > < span class = "p" > ,< / span > < span class = "n" > terminated< / span > < span class = "p" > ,< / span > < span class = "n" > truncated< / span > < span class = "p" > ,< / span > < span class = "n" > info< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > step< / span > < span class = "p" > (< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > action_space< / span > < span class = "o" > .< / span > < span class = "n" > sample< / span > < span class = "p" > ())< / span >
< span class = "linenos" > 73< / span > < span class = "n" > buffer< / span > < span class = "p" > [< / span > < span class = "s1" > ' obs' < / span > < span class = "p" > ]< / span > < span class = "o" > .< / span > < span class = "n" > append< / span > < span class = "p" > (< / span > < span class = "n" > obs< / span > < span class = "p" > )< / span >
< span class = "linenos" > 74< / span > < span class = "n" > buffer< / span > < span class = "p" > [< / span > < span class = "s1" > ' reward' < / span > < span class = "p" > ]< / span > < span class = "o" > .< / span > < span class = "n" > append< / span > < span class = "p" > (< / span > < span class = "n" > reward< / span > < span class = "p" > )< / span >
< span class = "linenos" > 75< / span > < span class = "n" > buffer< / span > < span class = "p" > [< / span > < span class = "s1" > ' terminated' < / span > < span class = "p" > ]< / span > < span class = "o" > .< / span > < span class = "n" > append< / span > < span class = "p" > (< / span > < span class = "n" > terminated< / span > < span class = "p" > )< / span >
< span class = "linenos" > 76< / span > < span class = "n" > buffer< / span > < span class = "p" > [< / span > < span class = "s1" > ' truncated' < / span > < span class = "p" > ]< / span > < span class = "o" > .< / span > < span class = "n" > append< / span > < span class = "p" > (< / span > < span class = "n" > truncated< / span > < span class = "p" > )< / span >
< span class = "linenos" > 77< / span > < span class = "n" > buffer< / span > < span class = "p" > [< / span > < span class = "s1" > ' info' < / span > < span class = "p" > ]< / span > < span class = "o" > .< / span > < span class = "n" > append< / span > < span class = "p" > (< / span > < span class = "n" > info< / span > < span class = "p" > )< / span >
< span class = "linenos" > 78< / span > < span class = "n" > rewards< / span > < span class = "o" > +=< / span > < span class = "n" > reward< / span >
< span class = "linenos" > 79< / span >
< span class = "linenos" > 80< / span > < span class = "n" > done< / span > < span class = "o" > =< / span > < span class = "n" > terminated< / span > < span class = "ow" > or< / span > < span class = "n" > truncated< / span >
< span class = "linenos" > 81< / span > < span class = "k" > if< / span > < span class = "n" > np< / span > < span class = "o" > .< / span > < span class = "n" > any< / span > < span class = "p" > (< / span > < span class = "n" > done< / span > < span class = "p" > ):< / span >
< span class = "linenos" > 82< / span > < span class = "nb" > print< / span > < span class = "p" > (< / span > < span class = "sa" > f< / span > < span class = "s2" > " Reward at iteration < / span > < span class = "si" > {< / span > < span class = "n" > i< / span > < span class = "si" > }< / span > < span class = "s2" > : < / span > < span class = "si" > {< / span > < span class = "n" > rewards< / span > < span class = "p" > [< / span > < span class = "n" > done< / span > < span class = "p" > ]< / span > < span class = "si" > }< / span > < span class = "s2" > " < / span > < span class = "p" > )< / span >
< span class = "linenos" > 83< / span > < span class = "n" > rewards< / span > < span class = "p" > [< / span > < span class = "n" > done< / span > < span class = "p" > ]< / span > < span class = "o" > =< / span > < span class = "mi" > 0< / span >
< span class = "linenos" > 84< / span >
< span class = "linenos" > 85< / span > < span class = "c1" > # do not return values above threshold< / span >
< span class = "linenos" > 86< / span > < span class = "k" > return< / span > < span class = "o" > *< / span > < span class = "nb" > map< / span > < span class = "p" > (< / span > < span class = "k" > lambda< / span > < span class = "n" > v< / span > < span class = "p" > :< / span > < span class = "n" > np< / span > < span class = "o" > .< / span > < span class = "n" > stack< / span > < span class = "p" > (< / span > < span class = "n" > v< / span > < span class = "p" > )[:< / span > < span class = "n" > n_samples< / span > < span class = "p" > ],< / span > < span class = "n" > buffer< / span > < span class = "o" > .< / span > < span class = "n" > values< / span > < span class = "p" > ()),< / span >
< span class = "linenos" > 87< / span >
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< span class = "linenos" > 88< / span > < span class = "k" > def< / span > < span class = "nf" > main< / span > < span class = "p" > (< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "kc" > False< / span > < span class = "p" > ):< / span >
< span class = "linenos" > 89< / span > < span class = "c1" > # Basic gym task< / span >
< span class = "linenos" > 90< / span > < span class = "n" > example_general< / span > < span class = "p" > (< / span > < span class = "s2" > " Pendulum-v1" < / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 10< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 200< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "n" > render< / span > < span class = "p" > )< / span >
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< span class = "linenos" > 91< / span >
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< span class = "linenos" > 92< / span > < span class = "c1" > # Mujoco task from framework< / span >
< span class = "linenos" > 93< / span > < span class = "n" > example_general< / span > < span class = "p" > (< / span > < span class = "s2" > " fancy/Reacher5d-v0" < / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 10< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 200< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "n" > render< / span > < span class = "p" > )< / span >
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< span class = "linenos" > 94< / span >
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< span class = "linenos" > 95< / span > < span class = "c1" > # # OpenAI Mujoco task< / span >
< span class = "linenos" > 96< / span > < span class = "n" > example_general< / span > < span class = "p" > (< / span > < span class = "s2" > " HalfCheetah-v2" < / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 10< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "n" > render< / span > < span class = "p" > )< / span >
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< span class = "linenos" > 97< / span >
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< span class = "linenos" > 98< / span > < span class = "c1" > # Vectorized multiprocessing environments< / span >
< span class = "linenos" > 99< / span > < span class = "c1" > # example_async(env_id=" HoleReacher-v0" , n_cpu=2, seed=int(' 533D' , 16), n_samples=2 * 200)< / span >
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< span class = "linenos" > 100< / span >
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< span class = "linenos" > 101< / span > < span class = "k" > if< / span > < span class = "vm" > __name__< / span > < span class = "o" > ==< / span > < span class = "s1" > ' __main__' < / span > < span class = "p" > :< / span >
< span class = "linenos" > 102< / span > < span class = "n" > main< / span > < span class = "p" > ()< / span >
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