Add RecordVideo wrapper (#2300)

* Add RecordVideo wrapper

* bug fix

* don't change gym's core API

* add test cases

* reformat

gym/vector/async_vector_env.py

@@ -92,13 +92,14 @@ class AsyncVectorEnv(VectorEnv):
         self.env_fns = env_fns
         self.shared_memory = shared_memory
         self.copy = copy
+        dummy_env = env_fns[0]()
+        self.metadata = dummy_env.metadata
 
         if (observation_space is None) or (action_space is None):
-            dummy_env = env_fns[0]()
             observation_space = observation_space or dummy_env.observation_space
             action_space = action_space or dummy_env.action_space
-            dummy_env.close()
+        dummy_env.close()
-            del dummy_env
+        del dummy_env
         super(AsyncVectorEnv, self).__init__(
             num_envs=len(env_fns),
             observation_space=observation_space,

gym/vector/sync_vector_env.py

@@ -33,6 +33,7 @@ class SyncVectorEnv(VectorEnv):
         self.env_fns = env_fns
         self.envs = [env_fn() for env_fn in env_fns]
         self.copy = copy
+        self.metadata = self.envs[0].metadata
 
         if (observation_space is None) or (action_space is None):
             observation_space = observation_space or self.envs[0].observation_space

gym/vector/vector_env.py

@@ -32,6 +32,7 @@ class VectorEnv(gym.Env):
     def __init__(self, num_envs, observation_space, action_space):
         super(VectorEnv, self).__init__()
         self.num_envs = num_envs
+        self.is_vector_env = True
         self.observation_space = batch_space(observation_space, n=num_envs)
         self.action_space = Tuple((action_space,) * num_envs)
 

gym/wrappers/__init__.py

@@ -14,3 +14,4 @@ from gym.wrappers.transform_reward import TransformReward
 from gym.wrappers.resize_observation import ResizeObservation
 from gym.wrappers.clip_action import ClipAction
 from gym.wrappers.record_episode_statistics import RecordEpisodeStatistics
+from gym.wrappers.record_video import RecordVideo

gym/wrappers/record_episode_statistics.py

@@ -7,7 +7,6 @@ import gym
 class RecordEpisodeStatistics(gym.Wrapper):
     def __init__(self, env, deque_size=100):
         super(RecordEpisodeStatistics, self).__init__(env)
-        self.env_is_vec = isinstance(env, gym.vector.VectorEnv)
         self.num_envs = getattr(env, "num_envs", 1)
         self.t0 = (
             time.time()
@@ -17,6 +16,7 @@ class RecordEpisodeStatistics(gym.Wrapper):
         self.episode_lengths = None
         self.return_queue = deque(maxlen=deque_size)
         self.length_queue = deque(maxlen=deque_size)
+        self.is_vector_env = getattr(env, "is_vector_env", False)
 
     def reset(self, **kwargs):
         observations = super(RecordEpisodeStatistics, self).reset(**kwargs)
@@ -30,7 +30,7 @@ class RecordEpisodeStatistics(gym.Wrapper):
         )
         self.episode_returns += rewards
         self.episode_lengths += 1
-        if not self.env_is_vec:
+        if not self.is_vector_env:
             infos = [infos]
             dones = [dones]
         for i in range(len(dones)):
@@ -52,6 +52,6 @@ class RecordEpisodeStatistics(gym.Wrapper):
         return (
             observations,
             rewards,
-            dones if self.env_is_vec else dones[0],
+            dones if self.is_vector_env else dones[0],
-            infos if self.env_is_vec else infos[0],
+            infos if self.is_vector_env else infos[0],
         )

gym/wrappers/record_video.py

@@ -0,0 +1,79 @@
+import os
+import gym
+from typing import Callable
+
+from gym.wrappers.monitoring import video_recorder
+
+
+class RecordVideo(gym.Wrapper):
+    def __init__(
+        self,
+        env,
+        video_folder: str,
+        record_video_trigger: Callable[[int], bool],
+        video_length: int = 0,
+        name_prefix: str = "rl-video",
+    ):
+        super(RecordVideo, self).__init__(env)
+        self.record_video_trigger = record_video_trigger
+        self.video_recorder = None
+
+        self.video_folder = os.path.abspath(video_folder)
+        # Create output folder if needed
+        os.makedirs(self.video_folder, exist_ok=True)
+
+        self.name_prefix = name_prefix
+        self.step_id = 0
+        self.video_length = video_length
+
+        self.recording = False
+        self.recorded_frames = 0
+        self.is_vector_env = getattr(env, "is_vector_env", False)
+
+    def reset(self, **kwargs):
+        observations = super(RecordVideo, self).reset(**kwargs)
+        self.start_video_recorder()
+        return observations
+
+    def start_video_recorder(self):
+        self.close_video_recorder()
+
+        video_name = f"{self.name_prefix}-step-{self.step_id}"
+        base_path = os.path.join(self.video_folder, video_name)
+        self.video_recorder = video_recorder.VideoRecorder(
+            env=self.env, base_path=base_path, metadata={"step_id": self.step_id}
+        )
+
+        self.video_recorder.capture_frame()
+        self.recorded_frames = 1
+        self.recording = True
+
+    def _video_enabled(self):
+        return self.record_video_trigger(self.step_id)
+
+    def step(self, action):
+        observations, rewards, dones, infos = super(RecordVideo, self).step(action)
+
+        self.step_id += 1
+        if self.recording:
+            self.video_recorder.capture_frame()
+            self.recorded_frames += 1
+            if self.video_length > 0:
+                if self.recorded_frames > self.video_length:
+                    self.close_video_recorder()
+            else:
+                if not self.is_vector_env:
+                    dones = [dones]
+                if dones[0]:
+                    self.close_video_recorder()
+
+        elif self._video_enabled():
+            self.start_video_recorder()
+
+        return observations, rewards, dones if self.is_vector_env else dones[0], infos
+
+    def close_video_recorder(self) -> None:
+        if self.recording:
+            self.video_recorder.close()
+        self.recording = False
+        self.recorded_frames = 1

gym/wrappers/test_record_video.py

@@ -0,0 +1,50 @@
+import pytest
+
+import os
+import shutil
+import gym
+from gym.wrappers import RecordEpisodeStatistics, RecordVideo
+
+
+def test_record_video():
+    env = gym.make("CartPole-v1")
+    env = gym.wrappers.RecordVideo(
+        env, "videos", record_video_trigger=lambda x: x % 100 == 0
+    )
+    env.reset()
+    for _ in range(200):
+        action = env.action_space.sample()
+        _, _, done, _ = env.step(action)
+        if done:
+            env.close()
+            break
+    assert os.path.isdir("videos")
+    shutil.rmtree("videos")
+
+
+def make_env(gym_id, seed):
+    def thunk():
+        env = gym.make(gym_id)
+        env.seed(seed)
+        env.action_space.seed(seed)
+        env.observation_space.seed(seed)
+        env = gym.wrappers.RecordVideo(
+            env, "videos", record_video_trigger=lambda x: x % 100 == 0
+        )
+        return env
+
+    return thunk
+
+
+def test_record_video_vector():
+    envs = gym.vector.SyncVectorEnv([make_env("CartPole-v1", 1 + i) for i in range(2)])
+    envs = gym.wrappers.RecordEpisodeStatistics(envs)
+    envs.reset()
+    for i in range(100):
+        _, _, _, infos = envs.step(envs.action_space.sample())
+        for info in infos:
+            if "episode" in info.keys():
+                print(f"i, episode_reward={info['episode']['r']}")
+                break
+    assert os.path.isdir("videos")
+    shutil.rmtree("videos")