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<section id="action-wrappers">
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<h1>Action Wrappers<a class="headerlink" href="#action-wrappers" title="Permalink to this heading">#</a></h1>
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<section id="action-wrapper">
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||
<h2>Action Wrapper<a class="headerlink" href="#action-wrapper" title="Permalink to this heading">#</a></h2>
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<dl class="py class">
|
||
<dt class="sig sig-object py" id="gymnasium.ActionWrapper">
|
||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">gymnasium.</span></span><span class="sig-name descname"><span class="pre">ActionWrapper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../env/#gymnasium.Env" title="gymnasium.core.Env"><span class="pre">Env</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#gymnasium.ActionWrapper" title="Permalink to this definition">#</a></dt>
|
||
<dd><p>Superclass of wrappers that can modify the action before <code class="xref py py-meth docutils literal notranslate"><span class="pre">env.step()</span></code>.</p>
|
||
<p>If you would like to apply a function to the action before passing it to the base environment,
|
||
you can simply inherit from <a class="reference internal" href="#gymnasium.ActionWrapper" title="gymnasium.ActionWrapper"><code class="xref py py-class docutils literal notranslate"><span class="pre">ActionWrapper</span></code></a> and overwrite the method <code class="xref py py-meth docutils literal notranslate"><span class="pre">action()</span></code> to implement
|
||
that transformation. The transformation defined in that method must take values in the base environment’s
|
||
action space. However, its domain might differ from the original action space.
|
||
In that case, you need to specify the new action space of the wrapper by setting <code class="xref py py-attr docutils literal notranslate"><span class="pre">self.action_space</span></code> in
|
||
the <code class="xref py py-meth docutils literal notranslate"><span class="pre">__init__()</span></code> method of your wrapper.</p>
|
||
<p>Let’s say you have an environment with action space of type <a class="reference internal" href="../../spaces/fundamental/#gymnasium.spaces.Box" title="gymnasium.spaces.Box"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.spaces.Box</span></code></a>, but you would only like
|
||
to use a finite subset of actions. Then, you might want to implement the following wrapper:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">DiscreteActions</span><span class="p">(</span><span class="n">gymnasium</span><span class="o">.</span><span class="n">ActionWrapper</span><span class="p">):</span>
|
||
<span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env</span><span class="p">,</span> <span class="n">disc_to_cont</span><span class="p">):</span>
|
||
<span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">env</span><span class="p">)</span>
|
||
<span class="bp">self</span><span class="o">.</span><span class="n">disc_to_cont</span> <span class="o">=</span> <span class="n">disc_to_cont</span>
|
||
<span class="bp">self</span><span class="o">.</span><span class="n">action_space</span> <span class="o">=</span> <span class="n">Discrete</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">disc_to_cont</span><span class="p">))</span>
|
||
|
||
<span class="k">def</span> <span class="nf">action</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">act</span><span class="p">):</span>
|
||
<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">disc_to_cont</span><span class="p">[</span><span class="n">act</span><span class="p">]</span>
|
||
|
||
<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">"__main__"</span><span class="p">:</span>
|
||
<span class="n">env</span> <span class="o">=</span> <span class="n">gymnasium</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s2">"LunarLanderContinuous-v2"</span><span class="p">)</span>
|
||
<span class="n">wrapped_env</span> <span class="o">=</span> <span class="n">DiscreteActions</span><span class="p">(</span><span class="n">env</span><span class="p">,</span> <span class="p">[</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span><span class="mi">0</span><span class="p">]),</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span><span class="mi">0</span><span class="p">]),</span>
|
||
<span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">0</span><span class="p">,</span><span class="mi">1</span><span class="p">]),</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">0</span><span class="p">,</span><span class="o">-</span><span class="mi">1</span><span class="p">])])</span>
|
||
<span class="nb">print</span><span class="p">(</span><span class="n">wrapped_env</span><span class="o">.</span><span class="n">action_space</span><span class="p">)</span> <span class="c1">#Discrete(4)</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>Among others, Gymnasium provides the action wrappers <code class="xref py py-class docutils literal notranslate"><span class="pre">ClipAction</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">RescaleAction</span></code> for clipping and rescaling actions.</p>
|
||
<p>Wraps an environment to allow a modular transformation of the <code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code> and <code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code> methods.</p>
|
||
<dl class="field-list simple">
|
||
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
|
||
<dd class="field-odd"><p><strong>env</strong> – The environment to wrap</p>
|
||
</dd>
|
||
</dl>
|
||
<dl class="py function">
|
||
<dt class="sig sig-object py" id="gymnasium.ActionWrapper.ActionWrapper.action">
|
||
<span class="sig-name descname"><span class="pre">action</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">action</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#gymnasium.ActionWrapper.ActionWrapper.action" title="Permalink to this definition">#</a></dt>
|
||
<dd><p>Returns a modified action before <code class="xref py py-meth docutils literal notranslate"><span class="pre">env.step()</span></code> is called.</p>
|
||
<dl class="field-list simple">
|
||
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
|
||
<dd class="field-odd"><p><strong>action</strong> – The original <code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code> actions</p>
|
||
</dd>
|
||
<dt class="field-even">Returns<span class="colon">:</span></dt>
|
||
<dd class="field-even"><p><strong>The modified actions</strong></p>
|
||
</dd>
|
||
</dl>
|
||
</dd></dl>
|
||
|
||
</dd></dl>
|
||
|
||
</section>
|
||
<section id="clip-action">
|
||
<h2>Clip Action<a class="headerlink" href="#clip-action" title="Permalink to this heading">#</a></h2>
|
||
<dl class="py class">
|
||
<dt class="sig sig-object py" id="gymnasium.wrappers.ClipAction">
|
||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">gymnasium.wrappers.</span></span><span class="sig-name descname"><span class="pre">ClipAction</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../env/#gymnasium.Env" title="gymnasium.core.Env"><span class="pre">Env</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#gymnasium.wrappers.ClipAction" title="Permalink to this definition">#</a></dt>
|
||
<dd><p>Clip the continuous action within the valid <code class="xref py py-class docutils literal notranslate"><span class="pre">Box</span></code> observation space bound.</p>
|
||
<p class="rubric">Example</p>
|
||
<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
|
||
<span class="gp">>>> </span><span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s1">'Bipedal-Walker-v3'</span><span class="p">)</span>
|
||
<span class="gp">>>> </span><span class="n">env</span> <span class="o">=</span> <span class="n">ClipAction</span><span class="p">(</span><span class="n">env</span><span class="p">)</span>
|
||
<span class="gp">>>> </span><span class="n">env</span><span class="o">.</span><span class="n">action_space</span>
|
||
<span class="go">Box(-1.0, 1.0, (4,), float32)</span>
|
||
<span class="gp">>>> </span><span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">5.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">10.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">]))</span>
|
||
<span class="go"># Executes the action np.array([1.0, 1.0, -1.0, 0]) in the base environment</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>A wrapper for clipping continuous actions within the valid bound.</p>
|
||
<dl class="field-list simple">
|
||
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
|
||
<dd class="field-odd"><p><strong>env</strong> – The environment to apply the wrapper</p>
|
||
</dd>
|
||
</dl>
|
||
</dd></dl>
|
||
|
||
</section>
|
||
<section id="rescale-action">
|
||
<h2>Rescale Action<a class="headerlink" href="#rescale-action" title="Permalink to this heading">#</a></h2>
|
||
<dl class="py class">
|
||
<dt class="sig sig-object py" id="gymnasium.wrappers.RescaleAction">
|
||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">gymnasium.wrappers.</span></span><span class="sig-name descname"><span class="pre">RescaleAction</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../env/#gymnasium.Env" title="gymnasium.core.Env"><span class="pre">Env</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">min_action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Union</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Union</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#gymnasium.wrappers.RescaleAction" title="Permalink to this definition">#</a></dt>
|
||
<dd><p>Affinely rescales the continuous action space of the environment to the range [min_action, max_action].</p>
|
||
<p>The base environment <code class="xref py py-attr docutils literal notranslate"><span class="pre">env</span></code> must have an action space of type <code class="xref py py-class docutils literal notranslate"><span class="pre">spaces.Box</span></code>. If <code class="xref py py-attr docutils literal notranslate"><span class="pre">min_action</span></code>
|
||
or <code class="xref py py-attr docutils literal notranslate"><span class="pre">max_action</span></code> are numpy arrays, the shape must match the shape of the environment’s action space.</p>
|
||
<p class="rubric">Example</p>
|
||
<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
|
||
<span class="gp">>>> </span><span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s1">'BipedalWalker-v3'</span><span class="p">)</span>
|
||
<span class="gp">>>> </span><span class="n">env</span><span class="o">.</span><span class="n">action_space</span>
|
||
<span class="go">Box(-1.0, 1.0, (4,), float32)</span>
|
||
<span class="gp">>>> </span><span class="n">min_action</span> <span class="o">=</span> <span class="o">-</span><span class="mf">0.5</span>
|
||
<span class="gp">>>> </span><span class="n">max_action</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">])</span>
|
||
<span class="gp">>>> </span><span class="n">env</span> <span class="o">=</span> <span class="n">RescaleAction</span><span class="p">(</span><span class="n">env</span><span class="p">,</span> <span class="n">min_action</span><span class="o">=</span><span class="n">min_action</span><span class="p">,</span> <span class="n">max_action</span><span class="o">=</span><span class="n">max_action</span><span class="p">)</span>
|
||
<span class="gp">>>> </span><span class="n">env</span><span class="o">.</span><span class="n">action_space</span>
|
||
<span class="go">Box(-0.5, [0. 0.5 1. 0.75], (4,), float32)</span>
|
||
<span class="gp">>>> </span><span class="n">RescaleAction</span><span class="p">(</span><span class="n">env</span><span class="p">,</span> <span class="n">min_action</span><span class="p">,</span> <span class="n">max_action</span><span class="p">)</span><span class="o">.</span><span class="n">action_space</span> <span class="o">==</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">(</span><span class="n">min_action</span><span class="p">,</span> <span class="n">max_action</span><span class="p">)</span>
|
||
<span class="go">True</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>Initializes the <a class="reference internal" href="#gymnasium.wrappers.RescaleAction" title="gymnasium.wrappers.RescaleAction"><code class="xref py py-class docutils literal notranslate"><span class="pre">RescaleAction</span></code></a> wrapper.</p>
|
||
<dl class="field-list simple">
|
||
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
|
||
<dd class="field-odd"><ul class="simple">
|
||
<li><p><strong>env</strong> (<a class="reference internal" href="../../env/#gymnasium.Env" title="gymnasium.Env"><em>Env</em></a>) – The environment to apply the wrapper</p></li>
|
||
<li><p><strong>min_action</strong> (<em>float</em><em>, </em><em>int</em><em> or </em><em>np.ndarray</em>) – The min values for each action. This may be a numpy array or a scalar.</p></li>
|
||
<li><p><strong>max_action</strong> (<em>float</em><em>, </em><em>int</em><em> or </em><em>np.ndarray</em>) – The max values for each action. This may be a numpy array or a scalar.</p></li>
|
||
</ul>
|
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</dd>
|
||
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|
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<ul>
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<li><a class="reference internal" href="#">Action Wrappers</a><ul>
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<li><a class="reference internal" href="#action-wrapper">Action Wrapper</a><ul>
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<li><a class="reference internal" href="#gymnasium.ActionWrapper"><code class="docutils literal notranslate"><span class="pre">ActionWrapper</span></code></a></li>
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<li><a class="reference internal" href="#gymnasium.wrappers.ClipAction"><code class="docutils literal notranslate"><span class="pre">ClipAction</span></code></a></li>
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<li><a class="reference internal" href="#rescale-action">Rescale Action</a><ul>
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<li><a class="reference internal" href="#gymnasium.wrappers.RescaleAction"><code class="docutils literal notranslate"><span class="pre">RescaleAction</span></code></a></li>
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