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Refactor Lunar Lander and Bipedal Walker to use Pygame (#2552)

Browse Source 
* Refactor lunar lander to use pygame

* Fix minor rendering inconsistency

* Refactor bipedal walker to use pygame

* Reformat with black

* Remove viewer

* Fix color for obstacles

* Update dependencies for box2d

* Optimize screen initialization
This commit is contained in:
Andrew Tan Jin Shen
2022-02-05 22:42:45 +08:00
committed by GitHub
parent 11760cd0b0
commit 2e36cde12e
4 changed files with 196 additions and 99 deletions
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161
gym/envs/box2d/bipedal_walker.py
View File

@@ -5,6 +5,9 @@ import math
from typing import Optional
import numpy as np
import pygame
from pygame import gfxdraw
import Box2D
from Box2D.b2 import (
edgeShape,
@@ -159,7 +162,8 @@ class BipedalWalker(gym.Env, EzPickle):
def __init__(self, hardcore: bool = False):
EzPickle.__init__(self)
self.viewer = None
self.screen = None
self.isopen = True
self.world = Box2D.b2World()
self.terrain = None
@@ -231,14 +235,14 @@ class BipedalWalker(gym.Env, EzPickle):
]
self.fd_polygon.shape.vertices = poly
t = self.world.CreateStaticBody(fixtures=self.fd_polygon)
t.color1, t.color2 = (1, 1, 1), (0.6, 0.6, 0.6)
t.color1, t.color2 = (255, 255, 255), (153, 153, 153)
self.terrain.append(t)
self.fd_polygon.shape.vertices = [
(p[0] + TERRAIN_STEP * counter, p[1]) for p in poly
]
t = self.world.CreateStaticBody(fixtures=self.fd_polygon)
t.color1, t.color2 = (1, 1, 1), (0.6, 0.6, 0.6)
t.color1, t.color2 = (255, 255, 255), (153, 153, 153)
self.terrain.append(t)
counter += 2
original_y = y
@@ -258,7 +262,7 @@ class BipedalWalker(gym.Env, EzPickle):
]
self.fd_polygon.shape.vertices = poly
t = self.world.CreateStaticBody(fixtures=self.fd_polygon)
t.color1, t.color2 = (1, 1, 1), (0.6, 0.6, 0.6)
t.color1, t.color2 = (255, 255, 255), (153, 153, 153)
self.terrain.append(t)
elif state == STAIRS and oneshot:
@@ -287,7 +291,7 @@ class BipedalWalker(gym.Env, EzPickle):
]
self.fd_polygon.shape.vertices = poly
t = self.world.CreateStaticBody(fixtures=self.fd_polygon)
t.color1, t.color2 = (1, 1, 1), (0.6, 0.6, 0.6)
t.color1, t.color2 = (255, 255, 255), (153, 153, 153)
self.terrain.append(t)
counter = stair_steps * stair_width
@@ -316,11 +320,11 @@ class BipedalWalker(gym.Env, EzPickle):
]
self.fd_edge.shape.vertices = poly
t = self.world.CreateStaticBody(fixtures=self.fd_edge)
color = (0.3, 1.0 if i % 2 == 0 else 0.8, 0.3)
color = (76, 255 if i % 2 == 0 else 204, 76)
t.color1 = color
t.color2 = color
self.terrain.append(t)
color = (0.4, 0.6, 0.3)
color = (102, 153, 76)
poly += [(poly[1][0], 0), (poly[0][0], 0)]
self.terrain_poly.append((poly, color))
self.terrain.reverse()
@@ -367,8 +371,8 @@ class BipedalWalker(gym.Env, EzPickle):
self.hull = self.world.CreateDynamicBody(
position=(init_x, init_y), fixtures=HULL_FD
)
self.hull.color1 = (0.5, 0.4, 0.9)
self.hull.color2 = (0.3, 0.3, 0.5)
self.hull.color1 = (127, 51, 229)
self.hull.color2 = (76, 76, 127)
self.hull.ApplyForceToCenter(
(self.np_random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM), 0), True
)
@@ -381,8 +385,8 @@ class BipedalWalker(gym.Env, EzPickle):
angle=(i * 0.05),
fixtures=LEG_FD,
)
leg.color1 = (0.6 - i / 10.0, 0.3 - i / 10.0, 0.5 - i / 10.0)
leg.color2 = (0.4 - i / 10.0, 0.2 - i / 10.0, 0.3 - i / 10.0)
leg.color1 = (153 - i * 25, 76 - i * 25, 127 - i * 25)
leg.color2 = (102 - i * 25, 51 - i * 25, 76 - i * 25)
rjd = revoluteJointDef(
bodyA=self.hull,
bodyB=leg,
@@ -403,8 +407,8 @@ class BipedalWalker(gym.Env, EzPickle):
angle=(i * 0.05),
fixtures=LOWER_FD,
)
lower.color1 = (0.6 - i / 10.0, 0.3 - i / 10.0, 0.5 - i / 10.0)
lower.color2 = (0.4 - i / 10.0, 0.2 - i / 10.0, 0.3 - i / 10.0)
lower.color1 = (153 - i * 25, 76 - i * 25, 127 - i * 25)
lower.color2 = (102 - i * 25, 51 - i * 25, 76 - i * 25)
rjd = revoluteJointDef(
bodyA=leg,
bodyB=lower,
@@ -523,37 +527,53 @@ class BipedalWalker(gym.Env, EzPickle):
return np.array(state, dtype=np.float32), reward, done, {}
def render(self, mode="human"):
from gym.utils import pyglet_rendering
if self.viewer is None:
self.viewer = pyglet_rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
self.viewer.set_bounds(
self.scroll, VIEWPORT_W / SCALE + self.scroll, 0, VIEWPORT_H / SCALE
)
if self.screen is None:
pygame.init()
self.screen = pygame.display.set_mode((VIEWPORT_W, VIEWPORT_H))
self.viewer.draw_polygon(
[
(self.scroll, 0),
(self.scroll + VIEWPORT_W / SCALE, 0),
(self.scroll + VIEWPORT_W / SCALE, VIEWPORT_H / SCALE),
(self.scroll, VIEWPORT_H / SCALE),
self.surf = pygame.Surface((VIEWPORT_W + self.scroll * SCALE, VIEWPORT_H))
pygame.transform.scale(self.surf, (SCALE, SCALE))
pygame.draw.polygon(
self.surf,
color=(215, 215, 255),
points=[
(self.scroll * SCALE, 0),
(self.scroll * SCALE + VIEWPORT_W, 0),
(self.scroll * SCALE + VIEWPORT_W, VIEWPORT_H),
(self.scroll * SCALE, VIEWPORT_H),
],
color=(0.9, 0.9, 1.0),
)
for poly, x1, x2 in self.cloud_poly:
if x2 < self.scroll / 2:
continue
if x1 > self.scroll / 2 + VIEWPORT_W / SCALE:
continue
self.viewer.draw_polygon(
[(p[0] + self.scroll / 2, p[1]) for p in poly], color=(1, 1, 1)
pygame.draw.polygon(
self.surf,
color=(255, 255, 255),
points=[
(p[0] * SCALE + self.scroll * SCALE / 2, p[1] * SCALE) for p in poly
],
)
gfxdraw.aapolygon(
self.surf,
[(p[0] * SCALE + self.scroll * SCALE / 2, p[1] * SCALE) for p in poly],
(255, 255, 255),
)
for poly, color in self.terrain_poly:
if poly[1][0] < self.scroll:
continue
if poly[0][0] > self.scroll + VIEWPORT_W / SCALE:
continue
self.viewer.draw_polygon(poly, color=color)
scaled_poly = []
for coord in poly:
scaled_poly.append(([coord[0] * SCALE, coord[1] * SCALE]))
pygame.draw.polygon(self.surf, color=color, points=scaled_poly)
gfxdraw.aapolygon(self.surf, scaled_poly, color)
self.lidar_render = (self.lidar_render + 1) % 100
i = self.lidar_render
@@ -563,45 +583,80 @@ class BipedalWalker(gym.Env, EzPickle):
if i < len(self.lidar)
else self.lidar[len(self.lidar) - i - 1]
)
self.viewer.draw_polyline([l.p1, l.p2], color=(1, 0, 0), linewidth=1)
pygame.draw.line(
self.surf,
color=(255, 0, 0),
start_pos=(l.p1[0] * SCALE, l.p1[1] * SCALE),
end_pos=(l.p2[0] * SCALE, l.p2[1] * SCALE),
width=1,
)
for obj in self.drawlist:
for f in obj.fixtures:
trans = f.body.transform
if type(f.shape) is circleShape:
t = pyglet_rendering.Transform(translation=trans * f.shape.pos)
self.viewer.draw_circle(
f.shape.radius, 30, color=obj.color1
).add_attr(t)
self.viewer.draw_circle(
f.shape.radius, 30, color=obj.color2, filled=False, linewidth=2
).add_attr(t)
pygame.draw.circle(
self.surf,
color=obj.color1,
center=trans * f.shape.pos * SCALE,
radius=f.shape.radius * SCALE,
)
pygame.draw.circle(
self.surf,
color=obj.color2,
center=trans * f.shape.pos * SCALE,
radius=f.shape.radius * SCALE,
)
else:
path = [trans * v for v in f.shape.vertices]
self.viewer.draw_polygon(path, color=obj.color1)
path = [trans * v * SCALE for v in f.shape.vertices]
if len(path) > 2:
pygame.draw.polygon(self.surf, color=obj.color1, points=path)
gfxdraw.aapolygon(self.surf, path, obj.color1)
path.append(path[0])
self.viewer.draw_polyline(path, color=obj.color2, linewidth=2)
pygame.draw.polygon(
self.surf, color=obj.color2, points=path, width=1
)
gfxdraw.aapolygon(self.surf, path, obj.color2)
else:
pygame.draw.aaline(
self.surf,
start_pos=path[0],
end_pos=path[1],
color=obj.color1,
)
flagy1 = TERRAIN_HEIGHT
flagy2 = flagy1 + 50 / SCALE
x = TERRAIN_STEP * 3
self.viewer.draw_polyline(
[(x, flagy1), (x, flagy2)], color=(0, 0, 0), linewidth=2
flagy1 = TERRAIN_HEIGHT * SCALE
flagy2 = flagy1 + 50
x = TERRAIN_STEP * 3 * SCALE
pygame.draw.aaline(
self.surf, color=(0, 0, 0), start_pos=(x, flagy1), end_pos=(x, flagy2)
)
f = [
(x, flagy2),
(x, flagy2 - 10 / SCALE),
(x + 25 / SCALE, flagy2 - 5 / SCALE),
(x, flagy2 - 10),
(x + 25, flagy2 - 5),
]
self.viewer.draw_polygon(f, color=(0.9, 0.2, 0))
self.viewer.draw_polyline(f + [f[0]], color=(0, 0, 0), linewidth=2)
pygame.draw.polygon(self.surf, color=(230, 51, 0), points=f)
pygame.draw.lines(
self.surf, color=(0, 0, 0), points=f + [f[0]], width=1, closed=False
)
return self.viewer.render(return_rgb_array=mode == "rgb_array")
self.surf = pygame.transform.flip(self.surf, False, True)
self.screen.blit(self.surf, (-self.scroll * SCALE, 0))
if mode == "human":
pygame.display.flip()
if mode == "rgb_array":
return np.transpose(
np.array(pygame.surfarray.pixels3d(self.screen)), axes=(1, 0, 2)
)
else:
return self.isopen
def close(self):
if self.viewer is not None:
self.viewer.close()
self.viewer = None
if self.screen is not None:
pygame.quit()
self.isopen = False
class BipedalWalkerHardcore:

131
gym/envs/box2d/lunar_lander.py
View File

@@ -5,6 +5,8 @@ import sys
from typing import Optional
import numpy as np
import pygame
from pygame import gfxdraw
import Box2D
from Box2D.b2 import (
@@ -144,8 +146,8 @@ class LunarLander(gym.Env, EzPickle):
def __init__(self, continuous: bool = False):
EzPickle.__init__(self)
self.viewer = None
self.screen = None
self.isopen = True
self.world = Box2D.b2World()
self.moon = None
self.lander = None
@@ -237,8 +239,8 @@ class LunarLander(gym.Env, EzPickle):
restitution=0.0,
), # 0.99 bouncy
)
self.lander.color1 = (0.5, 0.4, 0.9)
self.lander.color2 = (0.3, 0.3, 0.5)
self.lander.color1 = (128, 102, 230)
self.lander.color2 = (77, 77, 128)
self.lander.ApplyForceToCenter(
(
self.np_random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM),
@@ -261,8 +263,8 @@ class LunarLander(gym.Env, EzPickle):
),
)
leg.ground_contact = False
leg.color1 = (0.5, 0.4, 0.9)
leg.color2 = (0.3, 0.3, 0.5)
leg.color1 = (128, 102, 230)
leg.color2 = (77, 77, 128)
rjd = revoluteJointDef(
bodyA=self.lander,
bodyB=leg,
@@ -433,66 +435,105 @@ class LunarLander(gym.Env, EzPickle):
return np.array(state, dtype=np.float32), reward, done, {}
def render(self, mode="human"):
from gym.utils import pyglet_rendering
if self.screen is None:
pygame.init()
self.screen = pygame.display.set_mode((VIEWPORT_W, VIEWPORT_H))
if self.viewer is None:
self.viewer = pyglet_rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
self.viewer.set_bounds(0, VIEWPORT_W / SCALE, 0, VIEWPORT_H / SCALE)
self.surf = pygame.Surface(self.screen.get_size())
pygame.transform.scale(self.surf, (SCALE, SCALE))
pygame.draw.rect(self.surf, (255, 255, 255), self.surf.get_rect())
for obj in self.particles:
obj.ttl -= 0.15
obj.color1 = (
max(0.2, 0.2 + obj.ttl),
max(0.2, 0.5 * obj.ttl),
max(0.2, 0.5 * obj.ttl),
int(max(0.2, 0.15 + obj.ttl) * 255),
int(max(0.2, 0.5 * obj.ttl) * 255),
int(max(0.2, 0.5 * obj.ttl) * 255),
)
obj.color2 = (
max(0.2, 0.2 + obj.ttl),
max(0.2, 0.5 * obj.ttl),
max(0.2, 0.5 * obj.ttl),
int(max(0.2, 0.15 + obj.ttl) * 255),
int(max(0.2, 0.5 * obj.ttl) * 255),
int(max(0.2, 0.5 * obj.ttl) * 255),
)
self._clean_particles(False)
for p in self.sky_polys:
self.viewer.draw_polygon(p, color=(0, 0, 0))
scaled_poly = []
for coord in p:
scaled_poly.append((coord[0] * SCALE, coord[1] * SCALE))
pygame.draw.polygon(self.surf, (0, 0, 0), scaled_poly)
gfxdraw.aapolygon(self.surf, scaled_poly, (0, 0, 0))
for obj in self.particles + self.drawlist:
for f in obj.fixtures:
trans = f.body.transform
if type(f.shape) is circleShape:
t = pyglet_rendering.Transform(translation=trans * f.shape.pos)
self.viewer.draw_circle(
f.shape.radius, 20, color=obj.color1
).add_attr(t)
self.viewer.draw_circle(
f.shape.radius, 20, color=obj.color2, filled=False, linewidth=2
).add_attr(t)
else:
path = [trans * v for v in f.shape.vertices]
self.viewer.draw_polygon(path, color=obj.color1)
path.append(path[0])
self.viewer.draw_polyline(path, color=obj.color2, linewidth=2)
for x in [self.helipad_x1, self.helipad_x2]:
flagy1 = self.helipad_y
flagy2 = flagy1 + 50 / SCALE
self.viewer.draw_polyline([(x, flagy1), (x, flagy2)], color=(1, 1, 1))
self.viewer.draw_polygon(
[
(x, flagy2),
(x, flagy2 - 10 / SCALE),
(x + 25 / SCALE, flagy2 - 5 / SCALE),
],
color=(0.8, 0.8, 0),
pygame.draw.circle(
self.surf,
color=obj.color1,
center=trans * f.shape.pos * SCALE,
radius=f.shape.radius * SCALE,
)
pygame.draw.circle(
self.surf,
color=obj.color2,
center=trans * f.shape.pos * SCALE,
radius=f.shape.radius * SCALE,
)
return self.viewer.render(return_rgb_array=mode == "rgb_array")
else:
path = [trans * v * SCALE for v in f.shape.vertices]
pygame.draw.polygon(self.surf, color=obj.color1, points=path)
gfxdraw.aapolygon(self.surf, path, obj.color1)
pygame.draw.aalines(
self.surf, color=obj.color2, points=path, closed=True
)
for x in [self.helipad_x1, self.helipad_x2]:
x = x * SCALE
flagy1 = self.helipad_y * SCALE
flagy2 = flagy1 + 50
pygame.draw.line(
self.surf,
color=(255, 255, 255),
start_pos=(x, flagy1),
end_pos=(x, flagy2),
width=1,
)
pygame.draw.polygon(
self.surf,
color=(204, 204, 0),
points=[
(x, flagy2),
(x, flagy2 - 10),
(x + 25, flagy2 - 5),
],
)
gfxdraw.aapolygon(
self.surf,
[(x, flagy2), (x, flagy2 - 10), (x + 25, flagy2 - 5)],
(204, 204, 0),
)
self.surf = pygame.transform.flip(self.surf, False, True)
self.screen.blit(self.surf, (0, 0))
if mode == "human":
pygame.display.flip()
if mode == "rgb_array":
return np.transpose(
np.array(pygame.surfarray.pixels3d(self.surf)), axes=(1, 0, 2)
)
else:
return self.isopen
def close(self):
if self.viewer is not None:
self.viewer.close()
self.viewer = None
if self.screen is not None:
pygame.quit()
self.isopen = False
def heuristic(env, s):

1
requirements.txt
View File

@@ -8,3 +8,4 @@ pyglet>=1.4.0
pygame==2.1.0
cloudpickle>=1.2.0
lz4>=3.1.0
pygame==2.1.0

2
setup.py
View File

@@ -12,7 +12,7 @@ from version import VERSION
extras = {
"atari": ["ale-py~=0.7.1"],
"accept-rom-license": ["autorom[accept-rom-license]~=0.4.2"],
"box2d": ["box2d-py==2.3.5", "pyglet>=1.4.0"],
"box2d": ["box2d-py==2.3.5", "pygame==2.1.0"],
"classic_control": ["pyglet>=1.4.0"],
"mujoco": ["mujoco_py>=1.50, <2.0"],
"toy_text": ["pygame==2.1.0", "scipy>=1.4.1"],