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coach/docs/contributing/add_env.html
Itai Caspi 6d40ad1650 update of api docstrings across coach and tutorials [WIP] (#91) 
* updating the documentation website
* adding the built docs
* update of api docstrings across coach and tutorials 0-2
* added some missing api documentation
* New Sphinx based documentation
2018-11-15 15:00:13 +02:00

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<div class="section" id="adding-a-new-environment">
<h1>Adding a New Environment<a class="headerlink" href="#adding-a-new-environment" title="Permalink to this headline"></a></h1>
<p>Adding a new environment to Coach is as easy as solving CartPole.</p>
<p>There are essentially two ways to integrate new environments to Coach:</p>
<div class="section" id="using-the-openai-gym-api">
<h2>Using the OpenAI Gym API<a class="headerlink" href="#using-the-openai-gym-api" title="Permalink to this headline"></a></h2>
<p>If your environment is already using the OpenAI Gym API, you are already good to go.
When selecting the environment parameters in the preset, use <code class="code docutils literal notranslate"><span class="pre">GymEnvironmentParameters()</span></code>,
and pass the path to your environment source code using the level parameter.
You can specify additional parameters for your environment using the additional_simulator_parameters parameter.
Take for example the definition used in the <code class="code docutils literal notranslate"><span class="pre">Pendulum_HAC</span></code> preset:</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">env_params</span> <span class="o">=</span> <span class="n">GymEnvironmentParameters</span><span class="p">()</span>
<span class="n">env_params</span><span class="o">.</span><span class="n">level</span> <span class="o">=</span> <span class="s2">&quot;rl_coach.environments.mujoco.pendulum_with_goals:PendulumWithGoals&quot;</span>
<span class="n">env_params</span><span class="o">.</span><span class="n">additional_simulator_parameters</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;time_limit&quot;</span><span class="p">:</span> <span class="mi">1000</span><span class="p">}</span>
</pre></div>
</div>
</div>
<div class="section" id="using-the-coach-api">
<h2>Using the Coach API<a class="headerlink" href="#using-the-coach-api" title="Permalink to this headline"></a></h2>
<p>There are a few simple steps to follow, and we will walk through them one by one.
As an alternative, we highly recommend following the corresponding
<a class="reference external" href="https://github.com/NervanaSystems/coach/blob/master/tutorials/2.%20Adding%20an%20Environment.ipynb">tutorial</a>
in the GitHub repo.</p>
<ol class="arabic">
<li><p class="first">Create a new class for your environment, and inherit the Environment class.</p>
</li>
<li><p class="first">Coach defines a simple API for implementing a new environment, which are defined in environment/environment.py.
There are several functions to implement, but only some of them are mandatory.</p>
<p>Here are the important ones:</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_take_action</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">action_idx</span><span class="p">:</span> <span class="n">ActionType</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="bp">None</span><span class="p">:</span>
<span class="sd">&quot;&quot;&quot;</span>
<span class="sd"> An environment dependent function that sends an action to the simulator.</span>
<span class="sd"> :param action_idx: the action to perform on the environment</span>
<span class="sd"> :return: None</span>
<span class="sd"> &quot;&quot;&quot;</span>
<span class="k">def</span> <span class="nf">_update_state</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="bp">None</span><span class="p">:</span>
<span class="sd">&quot;&quot;&quot;</span>
<span class="sd"> Updates the state from the environment.</span>
<span class="sd"> Should update self.observation, self.reward, self.done, self.measurements and self.info</span>
<span class="sd"> :return: None</span>
<span class="sd"> &quot;&quot;&quot;</span>
<span class="k">def</span> <span class="nf">_restart_environment_episode</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">force_environment_reset</span><span class="o">=</span><span class="bp">False</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="bp">None</span><span class="p">:</span>
<span class="sd">&quot;&quot;&quot;</span>
<span class="sd"> Restarts the simulator episode</span>
<span class="sd"> :param force_environment_reset: Force the environment to reset even if the episode is not done yet.</span>
<span class="sd"> :return: None</span>
<span class="sd"> &quot;&quot;&quot;</span>
<span class="k">def</span> <span class="nf">_render</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="bp">None</span><span class="p">:</span>
<span class="sd">&quot;&quot;&quot;</span>
<span class="sd"> Renders the environment using the native simulator renderer</span>
<span class="sd"> :return: None</span>
<span class="sd"> &quot;&quot;&quot;</span>
<span class="k">def</span> <span class="nf">get_rendered_image</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
<span class="sd">&quot;&quot;&quot;</span>
<span class="sd"> Return a numpy array containing the image that will be rendered to the screen.</span>
<span class="sd"> This can be different from the observation. For example, mujoco&#39;s observation is a measurements vector.</span>
<span class="sd"> :return: numpy array containing the image that will be rendered to the screen</span>
<span class="sd"> &quot;&quot;&quot;</span>
</pre></div>
</div>
</li>
<li><p class="first">Create a new parameters class for your environment, which inherits the EnvironmentParameters class.
In the __init__ of your class, define all the parameters you used in your Environment class.
Additionally, fill the path property of the class with the path to your Environment class.
For example, take a look at the EnvironmentParameters class used for Doom:</p>
<blockquote>
<div><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">DoomEnvironmentParameters</span><span class="p">(</span><span class="n">EnvironmentParameters</span><span class="p">):</span>
<span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">()</span>
<span class="bp">self</span><span class="o">.</span><span class="n">default_input_filter</span> <span class="o">=</span> <span class="n">DoomInputFilter</span>
<span class="bp">self</span><span class="o">.</span><span class="n">default_output_filter</span> <span class="o">=</span> <span class="n">DoomOutputFilter</span>
<span class="bp">self</span><span class="o">.</span><span class="n">cameras</span> <span class="o">=</span> <span class="p">[</span><span class="n">DoomEnvironment</span><span class="o">.</span><span class="n">CameraTypes</span><span class="o">.</span><span class="n">OBSERVATION</span><span class="p">]</span>
<span class="nd">@property</span>
<span class="k">def</span> <span class="nf">path</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="k">return</span> <span class="s1">&#39;rl_coach.environments.doom_environment:DoomEnvironment&#39;</span>
</pre></div>
</div>
</div></blockquote>
</li>
<li><p class="first">And that’s it, you’re done. Now just add a new preset with your newly created environment, and start training an agent on top of it.</p>
</li>
</ol>
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