39 lines
984 B
Python
39 lines
984 B
Python
from collections import deque
|
|
|
|
import gym
|
|
import numpy as np
|
|
import torch
|
|
|
|
|
|
class PixelWrapper(gym.Wrapper):
|
|
"""
|
|
Wrapper for pixel observations. Compatible with DMControl environments.
|
|
"""
|
|
|
|
def __init__(self, cfg, env, num_frames=3, render_size=64):
|
|
super().__init__(env)
|
|
self.cfg = cfg
|
|
self.env = env
|
|
self.observation_space = gym.spaces.Box(
|
|
low=0, high=255, shape=(num_frames*3, render_size, render_size), dtype=np.uint8
|
|
)
|
|
self._frames = deque([], maxlen=num_frames)
|
|
self._render_size = render_size
|
|
|
|
def _get_obs(self):
|
|
frame = self.env.render(
|
|
mode='rgb_array', width=self._render_size, height=self._render_size
|
|
).transpose(2, 0, 1)
|
|
self._frames.append(frame)
|
|
return torch.from_numpy(np.concatenate(self._frames))
|
|
|
|
def reset(self):
|
|
self.env.reset()
|
|
for _ in range(self._frames.maxlen):
|
|
obs = self._get_obs()
|
|
return obs
|
|
|
|
def step(self, action):
|
|
_, reward, done, info = self.env.step(action)
|
|
return self._get_obs(), reward, done, info
|