
    ni                     
   S r SSKJr  SSKJr  SSKJr  SSKrSSKrSSKJr   SSKJ	s  J
r  SSKJr  SS	KJr  S
 rS rSS jrS r\S:X  Ga%  \R,                  R.                  R0                  r\R,                  R.                  R3                  SSS5        \R,                  R.                  R3                  SSS5        \R,                  R.                  R3                  SSS5        \R,                  R.                  R5                  SSS5        \R,                  R.                  R5                  SSS5        \R,                  R.                  R7                  SSS5        \R,                  R9                  5         gg! \ a    SSKr GNTf = f)zScript to render videos of the Proximal Policy Gradient algorithm.

Command line:

  python3 -m agents.scripts.visualize \
      --logdir=/path/to/logdir/<time>-<config> --outdir=/path/to/outdir/
    )absolute_import)division)print_functionN)wrappers   )tools)utilityc           	      h   [        U R                  [        5      (       a!  [        R                  " U R                  5      nOU R                  5       n[        US5      (       d  [        US[        USS5      5        U R                  (       a)  [        R                  R                  X R                  5      n[        R                  R                  X!S 5      n[        R                  R                  U5      n[        R                  R                  U5      n[        R                  R                  U5      nU$ )zConstructor for an instance of the environment.

Args:
  config: Object providing configurations via attributes.
  outdir: Directory to store videos in.

Returns:
  Wrapped OpenAI Gym environment.
specNc                     gNT )unused_episode_numbers    \/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/agents/visualize_ppo.py<lambda>%_create_environment.<locals>.<lambda>;   s        )
isinstanceenvstrgymmakehasattrsetattrgetattr
max_lengthr   r   LimitDurationMonitorRangeNormalize
ClipActionConvertTo32Bit)configoutdirr   s      r   _create_environmentr$   '   s     

C  
((6::
C
**,C 
f		Cfd34
..
&
&s,=,=
>CS*LM#%%c*#!!#&#%%c*#	*r   c                    [         R                  " SU R                  U R                  U R                  U R
                  5      nUR                  SU R                  U R                  U R                  UUSSU R                  S0S9	  U$ )zCreate and configure an evaluation loop.

Args:
  graph: Object providing graph elements via attributes.
  eval_steps: Number of evaluation steps per epoch.

Returns:
  Loop object.
NevalF)report_every	log_everycheckpoint_everyfeed)r   Loopstep
should_log	do_reportforce_reset	add_phasedonescoresummaryis_training)graph
eval_stepsloops      r   _define_loopr8   B   sw     
D%**e&6&6IZIZ	[$..("&((%0  2 
+r   Tc           	        ^^ [         R                  " U 5      m[        R                  " S5         [         R                  " UU4S jUU5      n[         R
                  " UTR                  T5      nUTR                  -  n[        Xx5      n	SSS5        [         R                  " SS9n
[        R                  " SS9nSUR                  l        [        R                  " US9 n[         R                  " XTR                  USS	9  W	R!                  XW5       H  nM     SSS5        WR#                  5         g! , (       d  f       N= f! , (       d  f       N0= f)
a  Recover checkpoint and render videos from it.

Args:
  logdir: Logging directory of the trained algorithm.
  outdir: Directory to store rendered videos in.
  num_agents: Number of environments to simulate in parallel.
  num_episodes: Total number of episodes to simulate.
  checkpoint: Checkpoint name to load; defaults to most recent.
  env_processes: Whether to step environments in separate processes.
z/cpu:0c                     > [        T T5      $ )N)r$   )r"   r#   s   r   r   visualize.<locals>.<lambda>f   s    1DVV1Tr   N)z.*_temporary/.*global_step)excludeT)allow_soft_placement)r"   )resume)r	   load_configtfdevicedefine_batch_envdefine_simulation_graph	algorithmr   r8   define_saverConfigProtogpu_optionsallow_growthSessioninitialize_variableslogdirrunclose)rL   r#   
num_agentsnum_episodes
checkpointenv_processes	batch_envr5   total_stepsr7   saversess_configsessunused_scorer"   s    `            @r   	visualizerY   Y   s    v&&	yy(()TV`)68I++Iv7G7GPE!2!22K+D  

'K
L%D9+)-+&	zz%  fmmZPTUk:
 ; & //  &%s   AD2;E2
E 
Ec                 8   [         R                  " 5         [        R                  (       a  [        R                  (       d  [        S5      e[        R                  R                  [        R                  5      [        l        [        R                  R                  [        R                  5      [        l        [        [        R                  [        R                  [        R                  [        R                  [        R                  [        R                  5        g)z+Load a trained algorithm and render videos.z1You must specify logging and outdirs directories.N)r	   set_up_loggingFLAGSrL   r#   KeyErrorospath
expanduserrY   rO   rP   rQ   rR   )_s    r   mainrb   u   s    		U\\
F
GG##ELL1%,##ELL1%,ELL%,,(8(8%:L:LeN^N^!r   __main__rL   z.Directory to the checkpoint of a training run.r#   z2Local directory for storing the monitoring outdir.rQ   z1Checkpoint name to load; defaults to most recent.rO   z*How many environments to step in parallel.rP      z%Minimum number of episodes to render.rR   z>Step environments in separate processes to circumvent the GIL.r   )__doc__
__future__r   r   r   r^   r   r   tensorflow.compat.v1compatv1rA   	Exception
tensorflow r   r	   r$   r8   rY   rb   __name__appflagsr\   DEFINE_stringDEFINE_integerDEFINE_booleanrM   r   r   r   <module>rs      s1   '  % 	 
 ##  6.8! z
&&,,

%&&,,Xt-]^&&,,Xt-ab&&,,\4PR&&,,lA/[\&&,,na1XY&&,,ot^`&&**, A  s   	E4 4
FF