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"""
This file contains the base wrapper class for Mujoco environments.
Wrappers are useful for data collection and logging. Highly recommended.
"""
class Wrapper:
"""
Base class for all wrappers in robosuite.
Args:
env (MujocoEnv): The environment to wrap.
"""
def __init__(self, env):
self.env = env
@classmethod
def class_name(cls):
return cls.__name__
def _warn_double_wrap(self):
"""
Utility function that checks if we're accidentally trying to double wrap an env
Raises:
Exception: [Double wrapping env]
"""
env = self.env
while True:
if isinstance(env, Wrapper):
if env.class_name() == self.class_name():
raise Exception("Attempted to double wrap with Wrapper: {}".format(self.__class__.__name__))
env = env.env
else:
break
def step(self, action):
"""
By default, run the normal environment step() function
Args:
action (np.array): action to take in environment
Returns:
4-tuple:
- (OrderedDict) observations from the environment
- (float) reward from the environment
- (bool) whether the current episode is completed or not
- (dict) misc information
"""
return self.env.step(action)
def reset(self):
"""
By default, run the normal environment reset() function
Returns:
OrderedDict: Environment observation space after reset occurs
"""
return self.env.reset()
def render(self, **kwargs):
"""
By default, run the normal environment render() function
Args:
**kwargs (dict): Any args to pass to environment render function
"""
return self.env.render(**kwargs)
def observation_spec(self):
"""
By default, grabs the normal environment observation_spec
Returns:
OrderedDict: Observations from the environment
"""
return self.env.observation_spec()
@property
def action_spec(self):
"""
By default, grabs the normal environment action_spec
Returns:
2-tuple:
- (np.array) minimum (low) action values
- (np.array) maximum (high) action values
"""
return self.env.action_spec
@property
def action_dim(self):
"""
By default, grabs the normal environment action_dim
Returns:
int: Action space dimension
"""
return self.env.dof
@property
def unwrapped(self):
"""
Grabs unwrapped environment
Returns:
env (MujocoEnv): Unwrapped environment
"""
if hasattr(self.env, "unwrapped"):
return self.env.unwrapped
else:
return self.env
# this method is a fallback option on any methods the original env might support
def __getattr__(self, attr):
# using getattr ensures that both __getattribute__ and __getattr__ (fallback) get called
# (see https://stackoverflow.com/questions/3278077/difference-between-getattr-vs-getattribute)
orig_attr = getattr(self.env, attr)
if callable(orig_attr):
def hooked(*args, **kwargs):
result = orig_attr(*args, **kwargs)
# prevent wrapped_class from becoming unwrapped
# NOTE: had to use "is" to prevent errors when returning numpy arrays from a wrapped method
if result is self.env:
return self
return result
return hooked
else:
return orig_attr
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