def _render(self, mode='human', close=False): if close: if self.viewer is not None: self.viewer.close() self.viewer = None return screen_width = 600 screen_height = 400 world_width = self.max_position - self.min_position scale = screen_width/world_width carwidth=40 carheight=20 if self.viewer is None: from environments.mujoco.rand_param_envs.gym.envs.classic_control import rendering self.viewer = rendering.Viewer(screen_width, screen_height) xs = np.linspace(self.min_position, self.max_position, 100) ys = self._height(xs) xys = list(zip((xs-self.min_position)*scale, ys*scale)) self.track = rendering.make_polyline(xys) self.track.set_linewidth(4) self.viewer.add_geom(self.track) clearance = 10 l,r,t,b = -carwidth/2, carwidth/2, carheight, 0 car = rendering.FilledPolygon([(l,b), (l,t), (r,t), (r,b)]) car.add_attr(rendering.Transform(translation=(0, clearance))) self.cartrans = rendering.Transform() car.add_attr(self.cartrans) self.viewer.add_geom(car) frontwheel = rendering.make_circle(carheight/2.5) frontwheel.set_color(.5, .5, .5) frontwheel.add_attr(rendering.Transform(translation=(carwidth/4,clearance))) frontwheel.add_attr(self.cartrans) self.viewer.add_geom(frontwheel) backwheel = rendering.make_circle(carheight/2.5) backwheel.add_attr(rendering.Transform(translation=(-carwidth/4,clearance))) backwheel.add_attr(self.cartrans) backwheel.set_color(.5, .5, .5) self.viewer.add_geom(backwheel) flagx = (self.goal_position-self.min_position)*scale flagy1 = self._height(self.goal_position)*scale flagy2 = flagy1 + 50 flagpole = rendering.Line((flagx, flagy1), (flagx, flagy2)) self.viewer.add_geom(flagpole) flag = rendering.FilledPolygon([(flagx, flagy2), (flagx, flagy2-10), (flagx+25, flagy2-5)]) flag.set_color(.8,.8,0) self.viewer.add_geom(flag) pos = self.state[0] self.cartrans.set_translation((pos-self.min_position)*scale, self._height(pos)*scale) self.cartrans.set_rotation(math.cos(3 * pos)) return self.viewer.render(return_rgb_array = mode=='rgb_array')
def _render(self, mode='human', close=False): if close: if self.viewer is not None: self.viewer.close() self.viewer = None return if self.viewer is None: from environments.mujoco.rand_param_envs.gym.envs.classic_control import rendering self.viewer = rendering.Viewer(500, 500) self.viewer.set_bounds(-2.2, 2.2, -2.2, 2.2) rod = rendering.make_capsule(1, .2) rod.set_color(.8, .3, .3) self.pole_transform = rendering.Transform() rod.add_attr(self.pole_transform) self.viewer.add_geom(rod) axle = rendering.make_circle(.05) axle.set_color(0, 0, 0) self.viewer.add_geom(axle) fname = path.join(path.dirname(__file__), "assets/clockwise.png") self.img = rendering.Image(fname, 1., 1.) self.imgtrans = rendering.Transform() self.img.add_attr(self.imgtrans) self.viewer.add_onetime(self.img) self.pole_transform.set_rotation(self.state[0] + np.pi / 2) if self.last_u: self.imgtrans.scale = (-self.last_u / 2, np.abs(self.last_u) / 2) return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def _render(self, mode='human', close=False): if close: if self.viewer is not None: self.viewer.close() self.viewer = None return screen_width = 600 screen_height = 400 world_width = self.x_threshold * 2 scale = screen_width / world_width carty = 100 # TOP OF CART polewidth = 10.0 polelen = scale * 1.0 cartwidth = 50.0 cartheight = 30.0 if self.viewer is None: from environments.mujoco.rand_param_envs.gym.envs.classic_control import rendering self.viewer = rendering.Viewer(screen_width, screen_height) l, r, t, b = -cartwidth / 2, cartwidth / 2, cartheight / 2, -cartheight / 2 axleoffset = cartheight / 4.0 cart = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)]) self.carttrans = rendering.Transform() cart.add_attr(self.carttrans) self.viewer.add_geom(cart) l, r, t, b = -polewidth / 2, polewidth / 2, polelen - polewidth / 2, -polewidth / 2 pole = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)]) pole.set_color(.8, .6, .4) self.poletrans = rendering.Transform(translation=(0, axleoffset)) pole.add_attr(self.poletrans) pole.add_attr(self.carttrans) self.viewer.add_geom(pole) self.axle = rendering.make_circle(polewidth / 2) self.axle.add_attr(self.poletrans) self.axle.add_attr(self.carttrans) self.axle.set_color(.5, .5, .8) self.viewer.add_geom(self.axle) self.track = rendering.Line((0, carty), (screen_width, carty)) self.track.set_color(0, 0, 0) self.viewer.add_geom(self.track) if self.state is None: return None x = self.state cartx = x[0] * scale + screen_width / 2.0 # MIDDLE OF CART self.carttrans.set_translation(cartx, carty) self.poletrans.set_rotation(-x[2]) return self.viewer.render(return_rgb_array=mode == 'rgb_array')