dmc.py

from collections import OrderedDict, deque
from typing import Any, NamedTuple

import dm_env
import numpy as np
from dm_control import manipulation, suite
from dm_control.suite.wrappers import action_scale, pixels
from dm_env import StepType, specs

import custom_dmc_tasks as cdmc


class ExtendedTimeStep(NamedTuple):
    step_type: Any
    reward: Any
    discount: Any
    observation: Any
    action: Any

    def first(self):
        return self.step_type == StepType.FIRST

    def mid(self):
        return self.step_type == StepType.MID

    def last(self):
        return self.step_type == StepType.LAST

    def __getitem__(self, attr):
        return getattr(self, attr)


class FlattenJacoObservationWrapper(dm_env.Environment):
    def __init__(self, env):
        self._env = env
        self._obs_spec = OrderedDict()
        wrapped_obs_spec = env.observation_spec().copy()
        if 'front_close' in wrapped_obs_spec:
            spec = wrapped_obs_spec['front_close']
            # drop batch dim
            self._obs_spec['pixels'] = specs.BoundedArray(shape=spec.shape[1:],
                                                          dtype=spec.dtype,
                                                          minimum=spec.minimum,
                                                          maximum=spec.maximum,
                                                          name='pixels')
            wrapped_obs_spec.pop('front_close')

        for key, spec in wrapped_obs_spec.items():
            assert spec.dtype == np.float64
            assert type(spec) == specs.Array
        dim = np.sum(
            np.fromiter((np.int(np.prod(spec.shape))
                         for spec in wrapped_obs_spec.values()), np.int32))

        self._obs_spec['observations'] = specs.Array(shape=(dim,),
                                                     dtype=np.float32,
                                                     name='observations')

    def _transform_observation(self, time_step):
        obs = OrderedDict()

        if 'front_close' in time_step.observation:
            pixels = time_step.observation['front_close']
            time_step.observation.pop('front_close')
            pixels = np.squeeze(pixels)
            obs['pixels'] = pixels

        features = []
        for feature in time_step.observation.values():
            features.append(feature.ravel())
        obs['observations'] = np.concatenate(features, axis=0)
        return time_step._replace(observation=obs)

    def reset(self):
        time_step = self._env.reset()
        return self._transform_observation(time_step)

    def step(self, action):
        time_step = self._env.step(action)
        return self._transform_observation(time_step)

    def observation_spec(self):
        return self._obs_spec

    def action_spec(self):
        return self._env.action_spec()

    def __getattr__(self, name):
        return getattr(self._env, name)


class ActionRepeatWrapper(dm_env.Environment):
    def __init__(self, env, num_repeats):
        self._env = env
        self._num_repeats = num_repeats

    def step(self, action):
        reward = 0.0
        discount = 1.0
        for i in range(self._num_repeats):
            time_step = self._env.step(action)
            reward += (time_step.reward or 0.0) * discount
            discount *= time_step.discount
            if time_step.last():
                break

        return time_step._replace(reward=reward, discount=discount)

    def observation_spec(self):
        return self._env.observation_spec()

    def action_spec(self):
        return self._env.action_spec()

    def reset(self):
        return self._env.reset()

    def __getattr__(self, name):
        return getattr(self._env, name)


class FrameStackWrapper(dm_env.Environment):
    def __init__(self, env, num_frames, pixels_key='pixels'):
        self._env = env
        self._num_frames = num_frames
        self._frames = deque([], maxlen=num_frames)
        self._pixels_key = pixels_key

        wrapped_obs_spec = env.observation_spec()
        assert pixels_key in wrapped_obs_spec

        pixels_shape = wrapped_obs_spec[pixels_key].shape
        # remove batch dim
        if len(pixels_shape) == 4:
            pixels_shape = pixels_shape[1:]
        self._obs_spec = specs.BoundedArray(shape=np.concatenate(
            [[pixels_shape[2] * num_frames], pixels_shape[:2]], axis=0),
                                            dtype=np.uint8,
                                            minimum=0,
                                            maximum=255,
                                            name='observation')

    def _transform_observation(self, time_step):
        assert len(self._frames) == self._num_frames
        obs = np.concatenate(list(self._frames), axis=0)
        return time_step._replace(observation=obs)

    def _extract_pixels(self, time_step):
        pixels = time_step.observation[self._pixels_key]
        # remove batch dim
        if len(pixels.shape) == 4:
            pixels = pixels[0]
        return pixels.transpose(2, 0, 1).copy()

    def reset(self):
        time_step = self._env.reset()
        pixels = self._extract_pixels(time_step)
        for _ in range(self._num_frames):
            self._frames.append(pixels)
        return self._transform_observation(time_step)

    def step(self, action):
        time_step = self._env.step(action)
        pixels = self._extract_pixels(time_step)
        self._frames.append(pixels)
        return self._transform_observation(time_step)

    def observation_spec(self):
        return self._obs_spec

    def action_spec(self):
        return self._env.action_spec()

    def __getattr__(self, name):
        return getattr(self._env, name)


class ActionDTypeWrapper(dm_env.Environment):
    def __init__(self, env, dtype):
        self._env = env
        wrapped_action_spec = env.action_spec()
        self._action_spec = specs.BoundedArray(wrapped_action_spec.shape,
                                               dtype,
                                               wrapped_action_spec.minimum,
                                               wrapped_action_spec.maximum,
                                               'action')

    def step(self, action):
        action = action.astype(self._env.action_spec().dtype)
        return self._env.step(action)

    def observation_spec(self):
        return self._env.observation_spec()

    def action_spec(self):
        return self._action_spec

    def reset(self):
        return self._env.reset()

    def __getattr__(self, name):
        return getattr(self._env, name)


class ObservationDTypeWrapper(dm_env.Environment):
    def __init__(self, env, dtype):
        self._env = env
        self._dtype = dtype
        wrapped_obs_spec = env.observation_spec()['observations']
        self._obs_spec = specs.Array(wrapped_obs_spec.shape, dtype,
                                     'observation')

    def _transform_observation(self, time_step):
        obs = time_step.observation['observations'].astype(self._dtype)
        return time_step._replace(observation=obs)

    def reset(self):
        time_step = self._env.reset()
        return self._transform_observation(time_step)

    def step(self, action):
        time_step = self._env.step(action)
        return self._transform_observation(time_step)

    def observation_spec(self):
        return self._obs_spec

    def action_spec(self):
        return self._env.action_spec()

    def __getattr__(self, name):
        return getattr(self._env, name)


class ExtendedTimeStepWrapper(dm_env.Environment):
    def __init__(self, env):
        self._env = env

    def reset(self):
        time_step = self._env.reset()
        return self._augment_time_step(time_step)

    def step(self, action):
        time_step = self._env.step(action)
        return self._augment_time_step(time_step, action)

    def _augment_time_step(self, time_step, action=None):
        if action is None:
            action_spec = self.action_spec()
            action = np.zeros(action_spec.shape, dtype=action_spec.dtype)
        return ExtendedTimeStep(observation=time_step.observation,
                                step_type=time_step.step_type,
                                action=action,
                                reward=time_step.reward or 0.0,
                                discount=time_step.discount or 1.0)

    def observation_spec(self):
        return self._env.observation_spec()

    def action_spec(self):
        return self._env.action_spec()

    def __getattr__(self, name):
        return getattr(self._env, name)


def _make_jaco(obs_type, domain, task, frame_stack, action_repeat, seed):
    env = cdmc.make_jaco(task, obs_type, seed)
    env = ActionDTypeWrapper(env, np.float32)
    env = ActionRepeatWrapper(env, action_repeat)
    env = FlattenJacoObservationWrapper(env)
    return env


def _make_dmc(obs_type, domain, task, frame_stack, action_repeat, seed):
    visualize_reward = False
    if (domain, task) in suite.ALL_TASKS:
        env = suite.load(domain,
                         task,
                         task_kwargs=dict(random=seed),
                         environment_kwargs=dict(flat_observation=True),
                         visualize_reward=visualize_reward)
    else:
        env = cdmc.make(domain,
                        task,
                        task_kwargs=dict(random=seed),
                        environment_kwargs=dict(flat_observation=True),
                        visualize_reward=visualize_reward)

    env = ActionDTypeWrapper(env, np.float32)
    env = ActionRepeatWrapper(env, action_repeat)
    if obs_type == 'pixels':
        # zoom in camera for quadruped
        camera_id = dict(quadruped=2).get(domain, 0)
        render_kwargs = dict(height=84, width=84, camera_id=camera_id)
        env = pixels.Wrapper(env,
                             pixels_only=True,
                             render_kwargs=render_kwargs)
    return env


def make(name, obs_type, frame_stack, action_repeat, seed):
    assert obs_type in ['states', 'pixels']
    domain, task = name.split('_', 1)
    domain = dict(cup='ball_in_cup').get(domain, domain)

    make_fn = _make_jaco if domain == 'jaco' else _make_dmc
    env = make_fn(obs_type, domain, task, frame_stack, action_repeat, seed)

    if obs_type == 'pixels':
        env = FrameStackWrapper(env, frame_stack)
    else:
        env = ObservationDTypeWrapper(env, np.float32)

    env = action_scale.Wrapper(env, minimum=-1.0, maximum=+1.0)
    env = ExtendedTimeStepWrapper(env)
    return env