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README.md

Chapter 9: Exploring the Learning Environments Landscape

Roboschool

To setup Roboschool in the rl_gym_book conda environment, follow the steps below:

  1. Activate the rl_gym_book conda environment: source activate rl_gym_book

  2. Navigate to this (ch9) folder and run the setup_roboschool.sh script:

    1. cd ch9
    2. chmod a+x ./setup_roboschool.sh
    3. ./setup_roboschool.sh

  3. Follow the output from the script to make sure the installation is successful. You can run a demo using the following command:

    (rl_gym_book) praveen@ubuntu:~/HOIAWOG/ch9$ python ~/software/roboschool/agent_zoo/ demo_race2.py

Note: If you get an error like below when you launch the demo script or when you try to use a Roboschool environment:

QGLShaderProgram: could not create shader program
bool QGLShaderPrivate::create(): Could not create shader of type 2.
python: render-simple.cpp:250: void SimpleRender::Context::initGL(): Assertion `r0' failed.

Then, add the following line at the top of the demo script or to your script which are are trying to run: from OpenGL import GLU

The available Roboschool environments along with their observation and action spaces are summarized in the table below for quick references:

Env ID Roboschool env obs space action space
RoboschoolInvertedPendulum-v1 Box(5,) Box(1,)
RoboschoolInvertedPendulumSwingup-v1 Box(5,) Box(1,)
RoboschoolInvertedDoublePendulum-v1 Box(9,) Box(1,)
RoboschoolReacher-v1 Box(9,) Box(2,)
RoboschoolHopper-v1 Box(15,) Box(3,)
RoboschoolWalker2d-v1 Box(22,) Box(6,)
RoboschoolHalfCheetah-v1 Box(26,) Box(6,)
RoboschoolAnt-v1 Box(28,) Box(8,)
RoboschoolHumanoid-v1 Box(44,) Box(17,)
RoboschoolHumanoidFlagrun-v1 Box(44,) Box(17,)
RoboschoolHumanoidFlagrunHarder-v1 Box(44,) Box(17,)
RoboschoolPong-v1 Box(13,) Box(2,)