Datasets:
File size: 2,361 Bytes
faa3682 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 | import functools
import os
import elements
import embodied
import numpy as np
from dm_control import manipulation
from dm_control import suite
from dm_control.locomotion.examples import basic_rodent_2020
from . import from_dm
class DMC(embodied.Env):
DEFAULT_CAMERAS = dict(
quadruped=2,
rodent=4,
)
def __init__(
self, env, repeat=1, size=(64, 64), proprio=True, image=True, camera=-1):
if 'MUJOCO_GL' not in os.environ:
os.environ['MUJOCO_GL'] = 'egl'
if isinstance(env, str):
domain, task = env.split('_', 1)
if camera == -1:
camera = self.DEFAULT_CAMERAS.get(domain, 0)
if domain == 'cup': # Only domain with multiple words.
domain = 'ball_in_cup'
if domain == 'manip':
env = manipulation.load(task + '_vision')
elif domain == 'rodent':
# camera 0: topdown map
# camera 2: shoulder
# camera 4: topdown tracking
# camera 5: eyes
env = getattr(basic_rodent_2020, task)()
else:
env = suite.load(domain, task)
self._dmenv = env
self._env = from_dm.FromDM(self._dmenv)
self._env = embodied.wrappers.ActionRepeat(self._env, repeat)
self._size = size
self._proprio = proprio
self._image = image
self._camera = camera
@functools.cached_property
def obs_space(self):
basic = ('is_first', 'is_last', 'is_terminal', 'reward')
spaces = self._env.obs_space.copy()
if not self._proprio:
spaces = {k: spaces[k] for k in basic}
key = 'image' if self._image else 'log/image'
spaces[key] = elements.Space(np.uint8, self._size + (3,))
return spaces
@functools.cached_property
def act_space(self):
return self._env.act_space
def step(self, action):
for key, space in self.act_space.items():
if not space.discrete:
assert np.isfinite(action[key]).all(), (key, action[key])
obs = self._env.step(action)
basic = ('is_first', 'is_last', 'is_terminal', 'reward')
if not self._proprio:
obs = {k: obs[k] for k in basic}
key = 'image' if self._image else 'log/image'
obs[key] = self._dmenv.physics.render(*self._size, camera_id=self._camera)
for key, space in self.obs_space.items():
if np.issubdtype(space.dtype, np.floating):
assert np.isfinite(obs[key]).all(), (key, obs[key])
return obs
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