add DeepMimic helper utils

examples/pybullet/gym/pybullet_utils/logger.py

@@ -0,0 +1,128 @@
+import pybullet_utils.mpi_util as MPIUtil
+
+"""
+
+Some simple logging functionality, inspired by rllab's logging.
+Assumes that each diagnostic gets logged each iteration
+
+Call logz.configure_output_file() to start logging to a 
+tab-separated-values file (some_file_name.txt)
+
+To load the learning curves, you can do, for example
+
+A = np.genfromtxt('/tmp/expt_1468984536/log.txt',delimiter='\t',dtype=None, names=True)
+A['EpRewMean']
+
+"""
+
+import os.path as osp, shutil, time, atexit, os, subprocess
+
+class Logger:
+    def print2(str):
+        if (MPIUtil.is_root_proc()):
+            print(str)
+        return
+
+    def __init__(self):
+        self.output_file = None
+        self.first_row = True
+        self.log_headers = []
+        self.log_current_row = {}
+        self._dump_str_template = ""
+        return
+
+    def reset(self):
+        self.first_row = True
+        self.log_headers = []
+        self.log_current_row = {}
+        if self.output_file is not None:
+            self.output_file = open(output_path, 'w')
+        return
+
+    def configure_output_file(self, filename=None):
+        """
+        Set output directory to d, or to /tmp/somerandomnumber if d is None
+        """
+        self.first_row = True
+        self.log_headers = []
+        self.log_current_row = {}
+
+        output_path = filename or "output/log_%i.txt"%int(time.time())
+
+        out_dir = os.path.dirname(output_path)
+        if not os.path.exists(out_dir) and MPIUtil.is_root_proc():
+            os.makedirs(out_dir)
+
+        if (MPIUtil.is_root_proc()):
+            self.output_file = open(output_path, 'w')
+            assert osp.exists(output_path)
+            atexit.register(self.output_file.close)
+
+            Logger.print2("Logging data to " + self.output_file.name)
+        return
+
+    def log_tabular(self, key, val):
+        """
+        Log a value of some diagnostic
+        Call this once for each diagnostic quantity, each iteration
+        """
+        if self.first_row and key not in self.log_headers:
+            self.log_headers.append(key)
+        else:
+            assert key in self.log_headers, "Trying to introduce a new key %s that you didn't include in the first iteration"%key
+        self.log_current_row[key] = val
+        return
+
+    def get_num_keys(self):
+        return len(self.log_headers)
+
+    def print_tabular(self):
+        """
+        Print all of the diagnostics from the current iteration
+        """
+        if (MPIUtil.is_root_proc()):
+            vals = []
+            Logger.print2("-"*37)
+            for key in self.log_headers:
+                val = self.log_current_row.get(key, "")
+                if isinstance(val, float):
+                    valstr = "%8.3g"%val
+                elif isinstance(val, int):
+                    valstr = str(val)
+                else: 
+                    valstr = val
+                Logger.print2("| %15s | %15s |"%(key, valstr))
+                vals.append(val)
+            Logger.print2("-" * 37)
+        return
+
+    def dump_tabular(self):
+        """
+        Write all of the diagnostics from the current iteration
+        """
+        if (MPIUtil.is_root_proc()):
+            if (self.first_row):
+                self._dump_str_template = self._build_str_template()
+
+            vals = []
+            for key in self.log_headers:
+                val = self.log_current_row.get(key, "")
+                vals.append(val)
+            
+            if self.output_file is not None:
+                if self.first_row:
+                    header_str = self._dump_str_template.format(*self.log_headers)
+                    self.output_file.write(header_str + "\n")
+
+                val_str = self._dump_str_template.format(*map(str,vals))
+                self.output_file.write(val_str + "\n")
+                self.output_file.flush()
+
+        self.log_current_row.clear()
+        self.first_row=False
+        return
+
+    def _build_str_template(self):
+        num_keys = self.get_num_keys()
+        template = "{:<25}" * num_keys
+        return template