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Render API (#2671)

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* add pygame GUI for frozen_lake.py env

* add new line at EOF

* pre-commit reformat

* improve graphics

* new images and dynamic window size

* darker tile borders and fix ICC profile

* pre-commit hook

* adjust elf and stool size

* Update frozen_lake.py

* reformat

* fix #2600

* #2600

* add rgb_array support

* reformat

* test render api change on FrozenLake

* add render support for reset on frozenlake

* add clock on pygame render

* new render api for blackjack

* new render api for cliffwalking

* new render api for Env class

* update reset method, lunar and Env

* fix wrapper

* fix reset lunar

* new render api for box2d envs

* new render api for mujoco envs

* fix bug

* new render api for classic control envs

* fix tests

* add render_mode None for CartPole

* new render api for test fake envs

* pre-commit hook

* fix FrozenLake

* fix FrozenLake

* more render_mode to super - frozenlake

* remove kwargs from frozen_lake new

* pre-commit hook

* add deprecated render method

* add backwards compatibility

* fix test

* add _render

* move pygame.init() (avoid pygame dependency on init)

* fix pygame dependencies

* remove collect_render() maintain multi-behaviours .render()

* add type hints

* fix renderer

* don't call .render() with None

* improve docstring

* add single_rgb_array to all envs

* remove None from metadata["render_modes"]

* add type hints to test_env_checkers

* fix lint

* add comments to renderer

* add comments to single_depth_array and single_state_pixels

* reformat

* add deprecation warnings and env.render_mode declaration

* fix lint

* reformat

* fix tests

* add docs

* fix car racing determinism

* remove warning test envs, customizable modes on renderer

* remove commments and add todo for env_checker

* fix car racing

* replace render mode check with assert

* update new mujoco

* reformat

* reformat

* change metaclass definition

* fix tests

* implement mark suggestions (test, docs, sets)

* check_render

Co-authored-by: J K Terry <jkterry0@gmail.com>
This commit is contained in:
Omar Younis
2022-06-08 00:20:56 +02:00
committed by GitHub
parent 66c431d4b3
commit 9acf9cd367
58 changed files with 950 additions and 304 deletions
Download Patch File Download Diff File Expand all files Collapse all files

74
gym/envs/classic_control/acrobot.py
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@@ -20,6 +20,7 @@ __author__ = "Christoph Dann <cdann@cdann.de>"
# SOURCE:
# https://github.com/rlpy/rlpy/blob/master/rlpy/Domains/Acrobot.py
from gym.utils.renderer import Renderer
class AcrobotEnv(core.Env):
@@ -134,7 +135,10 @@ class AcrobotEnv(core.Env):
- Sutton, R. S., Barto, A. G. (2018 ). Reinforcement Learning: An Introduction. The MIT Press.
"""
metadata = {"render_modes": ["human", "rgb_array"], "render_fps": 15}
metadata = {
"render_modes": ["human", "rgb_array", "single_rgb_array"],
"render_fps": 15,
}
dt = 0.2
@@ -161,7 +165,10 @@ class AcrobotEnv(core.Env):
domain_fig = None
actions_num = 3
def __init__(self):
def __init__(self, render_mode: Optional[str] = None):
assert render_mode is None or render_mode in self.metadata["render_modes"]
self.render_mode = render_mode
self.renderer = Renderer(self.render_mode, self._render)
self.screen = None
self.clock = None
self.isopen = True
@@ -184,6 +191,9 @@ class AcrobotEnv(core.Env):
self.state = self.np_random.uniform(low=-0.1, high=0.1, size=(4,)).astype(
np.float32
)
self.renderer.reset()
self.renderer.render_step()
if not return_info:
return self._get_ob()
else:
@@ -213,7 +223,9 @@ class AcrobotEnv(core.Env):
self.state = ns
terminal = self._terminal()
reward = -1.0 if not terminal else 0.0
return (self._get_ob(), reward, terminal, {})
self.renderer.render_step()
return self._get_ob(), reward, terminal, {}
def _get_ob(self):
s = self.state
@@ -267,9 +279,16 @@ class AcrobotEnv(core.Env):
a + d2 / d1 * phi1 - m2 * l1 * lc2 * dtheta1**2 * sin(theta2) - phi2
) / (m2 * lc2**2 + I2 - d2**2 / d1)
ddtheta1 = -(d2 * ddtheta2 + phi1) / d1
return (dtheta1, dtheta2, ddtheta1, ddtheta2, 0.0)
return dtheta1, dtheta2, ddtheta1, ddtheta2, 0.0
def render(self, mode="human"):
if self.render_mode is not None:
return self.renderer.get_renders()
else:
return self._render(mode)
def _render(self, mode="human"):
assert mode in self.metadata["render_modes"]
try:
import pygame
from pygame import gfxdraw
@@ -280,13 +299,18 @@ class AcrobotEnv(core.Env):
if self.screen is None:
pygame.init()
pygame.display.init()
self.screen = pygame.display.set_mode((self.SCREEN_DIM, self.SCREEN_DIM))
if mode == "human":
pygame.display.init()
self.screen = pygame.display.set_mode(
(self.SCREEN_DIM, self.SCREEN_DIM)
)
else: # mode in {"rgb_array", "single_rgb_array"}
self.screen = pygame.Surface((self.SCREEN_DIM, self.SCREEN_DIM))
if self.clock is None:
self.clock = pygame.time.Clock()
self.surf = pygame.Surface((self.SCREEN_DIM, self.SCREEN_DIM))
self.surf.fill((255, 255, 255))
surf = pygame.Surface((self.SCREEN_DIM, self.SCREEN_DIM))
surf.fill((255, 255, 255))
s = self.state
bound = self.LINK_LENGTH_1 + self.LINK_LENGTH_2 + 0.2 # 2.2 for default
@@ -311,7 +335,7 @@ class AcrobotEnv(core.Env):
link_lengths = [self.LINK_LENGTH_1 * scale, self.LINK_LENGTH_2 * scale]
pygame.draw.line(
self.surf,
surf,
start_pos=(-2.2 * scale + offset, 1 * scale + offset),
end_pos=(2.2 * scale + offset, 1 * scale + offset),
color=(0, 0, 0),
@@ -327,35 +351,33 @@ class AcrobotEnv(core.Env):
coord = pygame.math.Vector2(coord).rotate_rad(th)
coord = (coord[0] + x, coord[1] + y)
transformed_coords.append(coord)
gfxdraw.aapolygon(self.surf, transformed_coords, (0, 204, 204))
gfxdraw.filled_polygon(self.surf, transformed_coords, (0, 204, 204))
gfxdraw.aapolygon(surf, transformed_coords, (0, 204, 204))
gfxdraw.filled_polygon(surf, transformed_coords, (0, 204, 204))
gfxdraw.aacircle(self.surf, int(x), int(y), int(0.1 * scale), (204, 204, 0))
gfxdraw.filled_circle(
self.surf, int(x), int(y), int(0.1 * scale), (204, 204, 0)
)
gfxdraw.aacircle(surf, int(x), int(y), int(0.1 * scale), (204, 204, 0))
gfxdraw.filled_circle(surf, int(x), int(y), int(0.1 * scale), (204, 204, 0))
surf = pygame.transform.flip(surf, False, True)
self.screen.blit(surf, (0, 0))
self.surf = pygame.transform.flip(self.surf, False, True)
self.screen.blit(self.surf, (0, 0))
if mode == "human":
pygame.event.pump()
self.clock.tick(self.metadata["render_fps"])
pygame.display.flip()
if mode == "rgb_array":
elif mode in {"rgb_array", "single_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.screen is not None:
import pygame
pygame.display.quit()
pygame.quit()
self.isopen = False
def close(self):
if self.screen is not None:
import pygame
pygame.display.quit()
pygame.quit()
self.isopen = False
def wrap(x, m, M):