bsuite/utils/gym_wrapper.py

# pylint: disable=g-bad-file-header
# Copyright 2019 DeepMind Technologies Limited. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#    http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or  implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ============================================================================
"""bsuite adapter for OpenAI gym run-loops."""

from typing import Any, Dict, Optional, Tuple, Union

import dm_env
from dm_env import specs
import gym
from gym import spaces
import numpy as np

# OpenAI gym step format = obs, reward, is_finished, other_info
_GymTimestep = Tuple[np.ndarray, float, bool, Dict[str, Any]]


class GymFromDMEnv(gym.Env):
  """A wrapper that converts a dm_env.Environment to an OpenAI gym.Env."""

  metadata = {'render.modes': ['human', 'rgb_array']}

  def __init__(self, env: dm_env.Environment):
    self._env = env  # type: dm_env.Environment
    self._last_observation = None  # type: Optional[np.ndarray]
    self.viewer = None
    self.game_over = False  # Needed for Dopamine agents.

  def step(self, action: int) -> _GymTimestep:
    timestep = self._env.step(action)
    self._last_observation = timestep.observation
    reward = timestep.reward or 0.
    if timestep.last():
      self.game_over = True
    return timestep.observation, reward, timestep.last(), {}

  def reset(self) -> np.ndarray:
    self.game_over = False
    timestep = self._env.reset()
    self._last_observation = timestep.observation
    return timestep.observation

  def render(self, mode: str = 'rgb_array') -> Union[np.ndarray, bool]:
    if self._last_observation is None:
      raise ValueError('Environment not ready to render. Call reset() first.')

    if mode == 'rgb_array':
      return self._last_observation

    if mode == 'human':
      if self.viewer is None:
        # pylint: disable=import-outside-toplevel
        # pylint: disable=g-import-not-at-top
        from gym.envs.classic_control import rendering
        self.viewer = rendering.SimpleImageViewer()
      self.viewer.imshow(self._last_observation)
      return self.viewer.isopen

  @property
  def action_space(self) -> spaces.Discrete:
    action_spec = self._env.action_spec()  # type: specs.DiscreteArray
    return spaces.Discrete(action_spec.num_values)

  @property
  def observation_space(self) -> spaces.Box:
    obs_spec = self._env.observation_spec()  # type: specs.Array
    if isinstance(obs_spec, specs.BoundedArray):
      return spaces.Box(
          low=float(obs_spec.minimum),
          high=float(obs_spec.maximum),
          shape=obs_spec.shape,
          dtype=obs_spec.dtype)
    return spaces.Box(
        low=-float('inf'),
        high=float('inf'),
        shape=obs_spec.shape,
        dtype=obs_spec.dtype)

  @property
  def reward_range(self) -> Tuple[float, float]:
    reward_spec = self._env.reward_spec()
    if isinstance(reward_spec, specs.BoundedArray):
      return reward_spec.minimum, reward_spec.maximum
    return -float('inf'), float('inf')

  def __getattr__(self, attr):
    """Delegate attribute access to underlying environment."""
    return getattr(self._env, attr)


def space2spec(space: gym.Space, name: Optional[str] = None):
  """Converts an OpenAI Gym space to a dm_env spec or nested structure of specs.

  Box, MultiBinary and MultiDiscrete Gym spaces are converted to BoundedArray
  specs. Discrete OpenAI spaces are converted to DiscreteArray specs. Tuple and
  Dict spaces are recursively converted to tuples and dictionaries of specs.

  Args:
    space: The Gym space to convert.
    name: Optional name to apply to all return spec(s).

  Returns:
    A dm_env spec or nested structure of specs, corresponding to the input
    space.
  """
  if isinstance(space, spaces.Discrete):
    return specs.DiscreteArray(num_values=space.n, dtype=space.dtype, name=name)

  elif isinstance(space, spaces.Box):
    return specs.BoundedArray(shape=space.shape, dtype=space.dtype,
                              minimum=space.low, maximum=space.high, name=name)

  elif isinstance(space, spaces.MultiBinary):
    return specs.BoundedArray(shape=space.shape, dtype=space.dtype, minimum=0.0,
                              maximum=1.0, name=name)

  elif isinstance(space, spaces.MultiDiscrete):
    return specs.BoundedArray(shape=space.shape, dtype=space.dtype,
                              minimum=np.zeros(space.shape),
                              maximum=space.nvec, name=name)

  elif isinstance(space, spaces.Tuple):
    return tuple(space2spec(s, name) for s in space.spaces)

  elif isinstance(space, spaces.Dict):
    return {key: space2spec(value, name) for key, value in space.spaces.items()}

  else:
    raise ValueError('Unexpected gym space: {}'.format(space))


class DMEnvFromGym(dm_env.Environment):
  """A wrapper to convert an OpenAI Gym environment to a dm_env.Environment."""

  def __init__(self, gym_env: gym.Env):
    self.gym_env = gym_env
    # Convert gym action and observation spaces to dm_env specs.
    self._observation_spec = space2spec(self.gym_env.observation_space,
                                        name='observations')
    self._action_spec = space2spec(self.gym_env.action_space, name='actions')
    self._reset_next_step = True

  def reset(self) -> dm_env.TimeStep:
    self._reset_next_step = False
    observation = self.gym_env.reset()
    return dm_env.restart(observation)

  def step(self, action: int) -> dm_env.TimeStep:
    if self._reset_next_step:
      return self.reset()

    # Convert the gym step result to a dm_env TimeStep.
    observation, reward, done, info = self.gym_env.step(action)
    self._reset_next_step = done

    if done:
      is_truncated = info.get('TimeLimit.truncated', False)
      if is_truncated:
        return dm_env.truncation(reward, observation)
      else:
        return dm_env.termination(reward, observation)
    else:
      return dm_env.transition(reward, observation)

  def close(self):
    self.gym_env.close()

  def observation_spec(self):
    return self._observation_spec

  def action_spec(self):
    return self._action_spec