add ARS to train/eval Minitaur

examples/pybullet/gym/pybullet_envs/ARS/utility.py

@@ -0,0 +1,52 @@
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+import os
+import ruamel.yaml as yaml
+
+def save_config(config, logdir):
+  """Save a new configuration by name.
+
+  If a logging directory is specified, is will be created and the configuration
+  will be stored there. Otherwise, a log message will be printed.
+
+  Args:
+    config: Configuration object.
+    logdir: Location for writing summaries and checkpoints if specified.
+
+  Returns:
+    Configuration object.
+  """
+  message = 'Start a new run and write summaries and checkpoints to {}.'
+  print(message.format(logdir))
+  config_path = os.path.join(logdir, 'config.yaml')
+  yaml.dump(config, config_path, default_flow_style=False)
+  return config
+
+
+def load_config(logdir):
+  """Load a configuration from the log directory.
+
+  Args:
+    logdir: The logging directory containing the configuration file.
+
+  Raises:
+    IOError: The logging directory does not contain a configuration file.
+
+  Returns:
+    Configuration object.
+  """
+  config_path = logdir and os.path.join(logdir, 'config.yaml')
+  if not config_path:
+    message = (
+        'Cannot resume an existing run since the logging directory does not '
+        'contain a configuration file.')
+    raise IOError(message)
+  print("config_path=",config_path)
+
+  stream = open(config_path, 'r')
+  config = yaml.load(stream)
+  message = 'Resume run and write summaries and checkpoints to {}.'
+  print(message.format(logdir))
+  return config