GymWrapper

torchrl.envs.GymWrapper(*args, **kwargs)

OpenAI Gym environment wrapper.

Works accross gymnasium and OpenAI/gym.

Parameters:

• env (gym.Env) – the environment to wrap. Batched environments (VecEnv or gym.VectorEnv) are supported and the environment batch-size will reflect the number of environments executed in parallel.

• categorical_action_encoding (bool, optional) – if True, categorical specs will be converted to the TorchRL equivalent (torchrl.data.Categorical), otherwise a one-hot encoding will be used (torchrl.data.OneHot). Defaults to False.

Keyword Arguments:

• from_pixels (bool, optional) – if True, an attempt to return the pixel observations from the env will be performed. By default, these observations will be written under the "pixels" entry. The method being used varies depending on the gym version and may involve a wrappers.pixel_observation.PixelObservationWrapper. Defaults to False.

• pixels_only (bool, optional) – if True, only the pixel observations will be returned (by default under the "pixels" entry in the output tensordict). If False, observations (eg, states) and pixels will be returned whenever from_pixels=True. Defaults to True.

• frame_skip (int, optional) – if provided, indicates for how many steps the same action is to be repeated. The observation returned will be the last observation of the sequence, whereas the reward will be the sum of rewards across steps.

• device (torch.device, optional) – if provided, the device on which the data is to be cast. Defaults to torch.device("cpu").

• batch_size (torch.Size, optional) – the batch size of the environment. Should match the leading dimensions of all observations, done states, rewards, actions and infos. Defaults to torch.Size([]).

• allow_done_after_reset (bool, optional) – if True, it is tolerated for envs to be done just after reset() is called. Defaults to False.

• convert_actions_to_numpy (bool, optional) – if True, actions will be converted from tensors to numpy arrays and moved to CPU before being passed to the env step function. Set this to False if the environment is evaluated on GPU, such as IsaacLab. Defaults to True.

Variables:

available_envs (List[str]) – a list of environments to build.

Note

If an attribute cannot be found, this class will attempt to retrieve it from the nested env:

>>> from torchrl.envs import GymWrapper
>>> import gymnasium as gym
>>> env = GymWrapper(gym.make("Pendulum-v1"))
>>> print(env.spec.max_episode_steps)
200

Examples

>>> import gymnasium as gym
>>> from torchrl.envs import GymWrapper
>>> base_env = gym.make("Pendulum-v1")
>>> env = GymWrapper(base_env)
>>> td = env.rand_step()
>>> print(td)
TensorDict(
    fields={
        action: Tensor(shape=torch.Size([1]), device=cpu, dtype=torch.float32, is_shared=False),
        next: TensorDict(
            fields={
                done: Tensor(shape=torch.Size([1]), device=cpu, dtype=torch.bool, is_shared=False),
                observation: Tensor(shape=torch.Size([3]), device=cpu, dtype=torch.float32, is_shared=False),
                reward: Tensor(shape=torch.Size([1]), device=cpu, dtype=torch.float32, is_shared=False),
                terminated: Tensor(shape=torch.Size([1]), device=cpu, dtype=torch.bool, is_shared=False),
                truncated: Tensor(shape=torch.Size([1]), device=cpu, dtype=torch.bool, is_shared=False)},
            batch_size=torch.Size([]),
            device=cpu,
            is_shared=False)},
    batch_size=torch.Size([]),
    device=cpu,
    is_shared=False)
>>> print(env.available_envs)
['ALE/Adventure-ram-v5', 'ALE/Adventure-v5', 'ALE/AirRaid-ram-v5', 'ALE/AirRaid-v5', 'ALE/Alien-ram-v5', 'ALE/Alien-v5',

Note

info dictionaries will be read using default_info_dict_reader if no other reader is provided. To provide another reader, refer to set_info_dict_reader(). To automatically register the info_dict content, refer to torchrl.envs.GymLikeEnv.auto_register_info_dict(). For parallel (Vectorized) environments, the info dictionary reader is automatically set and should not be set manually.

Note

Gym spaces are not completely covered. The following spaces are accounted for provided that they can be represented by a torch.Tensor, a nested tensor and/or within a tensordict:

• spaces.Box

• spaces.Sequence

• spaces.Tuple

• spaces.Discrete

• spaces.MultiBinary

• spaces.MultiDiscrete

• spaces.Dict

Some considerations should be made when working with gym spaces. For instance, a tuple of spaces can only be supported if the spaces are semantically identical (same dtype and same number of dimensions). Ragged dimension can be supported through nested_tensor(), but then there should be only one level of tuple and data should be stacked along the first dimension (as nested_tensors can only be stacked along the first dimension).

Check the example in examples/envs/gym_conversion_examples.py to know more!