envs/distracting_control/color.py

# coding=utf-8
# Copyright 2021 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# Lint as: python3
"""A wrapper for dm_control environments which applies color distractions."""

from dm_control.rl import control
import numpy as np


class DistractingColorEnv(control.Environment):
    """Environment wrapper for color visual distraction.

  **NOTE**: This wrapper should be applied BEFORE the pixel wrapper to make sure
  the color changes are applied before rendering occurs.
  """

    def __init__(self,
                 env,
                 step_std,
                 max_delta,
                 seed=None,
                 fixed=False,
                 ):
        """Initialize the environment wrapper.

    Args:
      env: instance of dm_control Environment to wrap with augmentations.
    """
        if step_std < 0:
            raise ValueError("`step_std` must be greater than or equal to 0.")
        if max_delta < 0:
            raise ValueError("`max_delta` must be greater than or equal to 0.")

        self._env = env
        self._step_std = step_std
        self._max_delta = max_delta
        self._random_state = np.random.RandomState(seed=seed)

        self._cam_type = None
        self._current_rgb = None
        self._max_rgb = None
        self._min_rgb = None
        self._original_rgb = None

        self.fixed = fixed
        self.first_reset = False

    def reset(self):
        """Reset the distractions state."""
        time_step = self._env.reset()
        if not self.fixed or not self.first_reset:
            self._reset_color()
            self.first_reset = True
        return time_step

    def _reset_color(self):
        # Save all original colors.
        if self._original_rgb is None:
            self._original_rgb = np.copy(self._env.physics.model.mat_rgba)[:, :3]
            # Determine minimum and maximum rgb values.
            self._max_rgb = np.clip(self._original_rgb + self._max_delta, 0.0, 1.0)
            self._min_rgb = np.clip(self._original_rgb - self._max_delta, 0.0, 1.0)

        # Pick random colors in the allowed ranges.
        r = self._random_state.uniform(size=self._min_rgb.shape)
        self._current_rgb = self._min_rgb + r * (self._max_rgb - self._min_rgb)

        # Apply the color changes.
        self._env.physics.model.mat_rgba[:, :3] = self._current_rgb

    def step(self, action):
        time_step = self._env.step(action)

        if time_step.first():
            self._reset_color()
            return time_step

        color_change = self._random_state.randn(*self._current_rgb.shape)
        color_change = color_change * self._step_std

        new_color = self._current_rgb + color_change

        self._current_rgb = np.clip(
            new_color,
            a_min=self._min_rgb,
            a_max=self._max_rgb,
        )

        # Apply the color changes.
        self._env.physics.model.mat_rgba[:, :3] = self._current_rgb
        return time_step

    # Forward property and method calls to self._env.
    def __getattr__(self, attr):
        if hasattr(self._env, attr):
            return getattr(self._env, attr)
        raise AttributeError("'{}' object has no attribute '{}'".format(
            type(self).__name__, attr))