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env_wrapper

EnvironmentWrapper

Bases: Wrapper, Registerable

Base class for all environment wrappers in OmniGibson. In general, reset(), step(), and observation_spec() should be overwritten

Parameters:

Name Type Description Default
env OmniGibsonEnv

The environment to wrap.

 required
Source code in omnigibson/envs/env_wrapper.py 
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class EnvironmentWrapper(Wrapper, Registerable):
    """
    Base class for all environment wrappers in OmniGibson. In general, reset(), step(), and observation_spec() should
    be overwritten

    Args:
        env (OmniGibsonEnv): The environment to wrap.
    """

    def __init__(self, env):
        self.env = env

        # Run super
        super().__init__(obj=env)

    def step(self, action):
        """
        By default, run the normal environment step() function

        Args:
            action (th.tensor): action to take in environment

        Returns:
            4-tuple:
                - (dict) observations from the environment
                - (float) reward from the environment
                - (bool) whether the current episode is terminated
                - (bool) whether the current episode is truncated
                - (dict) misc information
        """
        return self.env.step(action)

    def reset(self):
        """
        By default, run the normal environment reset() function

        Returns:
            dict: Environment observation space after reset occurs
        """
        return self.env.reset()

    def observation_spec(self):
        """
        By default, grabs the normal environment observation_spec

        Returns:
            dict: Observations from the environment
        """
        return self.env.observation_spec()

    @classproperty
    def _do_not_register_classes(cls):
        # Don't register this class since it's an abstract template
        classes = super()._do_not_register_classes
        classes.add("EnvironmentWrapper")
        return classes

    @classproperty
    def _cls_registry(cls):
        # Global robot registry
        global REGISTERED_ENV_WRAPPERS
        return REGISTERED_ENV_WRAPPERS

observation_spec()

By default, grabs the normal environment observation_spec

Returns:

Type Description
dict

Observations from the environment
Source code in omnigibson/envs/env_wrapper.py 
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def observation_spec(self):
    """
    By default, grabs the normal environment observation_spec

    Returns:
        dict: Observations from the environment
    """
    return self.env.observation_spec()

reset()

By default, run the normal environment reset() function

Returns:

Type Description
dict

Environment observation space after reset occurs
Source code in omnigibson/envs/env_wrapper.py 
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def reset(self):
    """
    By default, run the normal environment reset() function

    Returns:
        dict: Environment observation space after reset occurs
    """
    return self.env.reset()

step(action)

By default, run the normal environment step() function

Parameters:

Name Type Description Default
action tensor

action to take in environment

 required

Returns:

Type Description
4 - tuple
  • (dict) observations from the environment
  • (float) reward from the environment
  • (bool) whether the current episode is terminated
  • (bool) whether the current episode is truncated
  • (dict) misc information
Source code in omnigibson/envs/env_wrapper.py 
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def step(self, action):
    """
    By default, run the normal environment step() function

    Args:
        action (th.tensor): action to take in environment

    Returns:
        4-tuple:
            - (dict) observations from the environment
            - (float) reward from the environment
            - (bool) whether the current episode is terminated
            - (bool) whether the current episode is truncated
            - (dict) misc information
    """
    return self.env.step(action)

create_wrapper(env)

Wraps environment @env with wrapper defined by env.wrapper_config

Source code in omnigibson/envs/env_wrapper.py 
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def create_wrapper(env):
    """
    Wraps environment @env with wrapper defined by env.wrapper_config
    """
    wrapper_cfg = deepcopy(env.wrapper_config)
    wrapper_type = wrapper_cfg.pop("type")
    wrapper_cfg["env"] = env

    return create_class_from_registry_and_config(
        cls_name=wrapper_type,
        cls_registry=REGISTERED_ENV_WRAPPERS,
        cfg=wrapper_cfg,
        cls_type_descriptor="wrapper",
    )