Gymnasium/gym/vector/utils/numpy_utils.py

from collections import OrderedDict
from functools import singledispatch

import numpy as np

from gym.spaces import Box, Dict, Discrete, MultiBinary, MultiDiscrete, Space, Tuple

__all__ = ["concatenate", "create_empty_array"]


@singledispatch
def concatenate(space, items, out):
    """Concatenate multiple samples from space into a single object.

    Parameters
    ----------
    items : iterable of samples of `space`
        Samples to be concatenated.

    out : tuple, dict, or `np.ndarray`
        The output object. This object is a (possibly nested) numpy array.

    space : `gym.spaces.Space` instance
        Observation space of a single environment in the vectorized environment.

    Returns
    -------
    out : tuple, dict, or `np.ndarray`
        The output object. This object is a (possibly nested) numpy array.

    Example
    -------
    >>> from gym.spaces import Box
    >>> space = Box(low=0, high=1, shape=(3,), dtype=np.float32)
    >>> out = np.zeros((2, 3), dtype=np.float32)
    >>> items = [space.sample() for _ in range(2)]
    >>> concatenate(items, out, space)
    array([[0.6348213 , 0.28607962, 0.60760117],
           [0.87383074, 0.192658  , 0.2148103 ]], dtype=float32)
    """
    assert isinstance(items, (list, tuple))
    raise ValueError(
        f"Space of type `{type(space)}` is not a valid `gym.Space` instance."
    )


@concatenate.register(Box)
@concatenate.register(Discrete)
@concatenate.register(MultiDiscrete)
@concatenate.register(MultiBinary)
def _concatenate_base(space, items, out):
    return np.stack(items, axis=0, out=out)


@concatenate.register(Tuple)
def _concatenate_tuple(space, items, out):
    return tuple(
        concatenate(subspace, [item[i] for item in items], out[i])
        for (i, subspace) in enumerate(space.spaces)
    )


@concatenate.register(Dict)
def _concatenate_dict(space, items, out):
    return OrderedDict(
        [
            (key, concatenate(subspace, [item[key] for item in items], out[key]))
            for (key, subspace) in space.spaces.items()
        ]
    )


@concatenate.register(Space)
def _concatenate_custom(space, items, out):
    return tuple(items)


@singledispatch
def create_empty_array(space, n=1, fn=np.zeros):
    """Create an empty (possibly nested) numpy array.

    Parameters
    ----------
    space : `gym.spaces.Space` instance
        Observation space of a single environment in the vectorized environment.

    n : int
        Number of environments in the vectorized environment. If `None`, creates
        an empty sample from `space`.

    fn : callable
        Function to apply when creating the empty numpy array. Examples of such
        functions are `np.empty` or `np.zeros`.

    Returns
    -------
    out : tuple, dict, or `np.ndarray`
        The output object. This object is a (possibly nested) numpy array.

    Example
    -------
    >>> from gym.spaces import Box, Dict
    >>> space = Dict({
    ... 'position': Box(low=0, high=1, shape=(3,), dtype=np.float32),
    ... 'velocity': Box(low=0, high=1, shape=(2,), dtype=np.float32)})
    >>> create_empty_array(space, n=2, fn=np.zeros)
    OrderedDict([('position', array([[0., 0., 0.],
                                     [0., 0., 0.]], dtype=float32)),
                 ('velocity', array([[0., 0.],
                                     [0., 0.]], dtype=float32))])
    """
    raise ValueError(
        f"Space of type `{type(space)}` is not a valid `gym.Space` instance."
    )


@create_empty_array.register(Box)
@create_empty_array.register(Discrete)
@create_empty_array.register(MultiDiscrete)
@create_empty_array.register(MultiBinary)
def _create_empty_array_base(space, n=1, fn=np.zeros):
    shape = space.shape if (n is None) else (n,) + space.shape
    return fn(shape, dtype=space.dtype)


@create_empty_array.register(Tuple)
def _create_empty_array_tuple(space, n=1, fn=np.zeros):
    return tuple(create_empty_array(subspace, n=n, fn=fn) for subspace in space.spaces)


@create_empty_array.register(Dict)
def _create_empty_array_dict(space, n=1, fn=np.zeros):
    return OrderedDict(
        [
            (key, create_empty_array(subspace, n=n, fn=fn))
            for (key, subspace) in space.spaces.items()
        ]
    )


@create_empty_array.register(Space)
def _create_empty_array_custom(space, n=1, fn=np.zeros):
    return None