def _render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None
return
state = self.simulation._state
if mode == 'ansi':
print(
'theta_P: {:3f}, vtheta_P: {:3f}, 1theta_1: {:3f}, vtheta_1: {:3f}, theta_2: {:3f}, vtheta_2: {:3f}'
.format(state[0], state[1], state[2], state[3], state[4],
state[5]))
return
(M_P, L_P, L_1, L_2, b, g) = self.params
if self.viewer is None:
from gym.envs.classic_control import rendering
# creating the screen
screen_width = int(2 * self.scaling_factor * (L_P + L_1 + L_2) +
100)
screen_height = int(self.scaling_factor * (L_P + L_1 + L_2) + 100)
self.viewer = rendering.Viewer(screen_width, screen_height)
s1w = 8 # segment 1 width
s2w = 8 # segment 2 width
pw = 7 # pendulum width
# creating the movable segments and pendulum
segment_1 = rendering.FilledPolygon([
(-s1w, s1w), (s1w, s1w),
(s1w, -self.scaling_factor * L_1 - s1w),
(-s1w, -self.scaling_factor * L_1 - s1w)
])
segment_2 = rendering.FilledPolygon([
(-s2w, s2w), (s2w, s2w),
(s2w, -self.scaling_factor * L_2 - s2w),
(-s2w, -self.scaling_factor * L_2 - s2w)
])
pendulum = rendering.FilledPolygon([
(-7, 7), (7, 7), (7, -self.scaling_factor * L_P - 7),
(-7, -self.scaling_factor * L_P - 7)
])
# setting different colors
segment_1.set_color(.8, .6, .4)
segment_2.set_color(.2, .6, .4)
pendulum.set_color(.8, .3, .8)
# creating visible joints
joint_1 = rendering.make_circle(s1w / 2)
joint_2 = rendering.make_circle(s2w / 2)
joint_p = rendering.make_circle(pw / 2)
# setting all colors to black
joint_1.set_color(.0, .0, .0)
joint_2.set_color(.0, .0, .0)
joint_p.set_color(.0, .0, .0)
# defining initial transforms (everything upright for now, rotation might change depending on initial angle)
self.segment_1_trans = rendering.Transform(translation=(300, 50))
self.segment_2_trans = rendering.Transform(
translation=(300, 50 + self.scaling_factor * L_1))
self.pendulum_trans = rendering.Transform(
translation=(300, 50 + self.scaling_factor * L_1 +
self.scaling_factor * L_2))
# adding transforms to the created shapes
segment_1.add_attr(self.segment_1_trans)
segment_2.add_attr(self.segment_2_trans)
pendulum.add_attr(self.pendulum_trans)
# adding the same transforms to the joints
joint_1.add_attr(self.segment_1_trans)
joint_2.add_attr(self.segment_2_trans)
joint_p.add_attr(self.pendulum_trans)
# adding a line (maybe rectangle later) to serve as reference ("table")
base = rendering.FilledPolygon([(0, 0), (0, 50),
(screen_width, 50),
(screen_width, 0)])
base.set_color(0.4, 0.4, 0.4)
# add shapes to the display
self.viewer.add_geom(base)
self.viewer.add_geom(segment_1)
self.viewer.add_geom(joint_1)
self.viewer.add_geom(segment_2)
self.viewer.add_geom(joint_2)
self.viewer.add_geom(pendulum)
self.viewer.add_geom(joint_p)
# updating rotations and translations
self.segment_1_trans.set_rotation(state[2])
x_trans = 300 + self.scaling_factor * L_1 * sin(state[2])
y_trans = 50 - self.scaling_factor * L_1 * cos(state[2])
self.segment_2_trans.set_translation(x_trans, y_trans)
self.segment_2_trans.set_rotation(state[4] + state[2] - pi)
pend_x_trans = x_trans + self.scaling_factor * L_2 * sin(state[4] +
state[2] - pi)
pend_y_trans = y_trans - self.scaling_factor * L_2 * cos(state[4] +
state[2] - pi)
self.pendulum_trans.set_translation(pend_x_trans, pend_y_trans)
self.pendulum_trans.set_rotation(state[0])
return self.viewer.render(return_rgb_array=(mode == 'rgb_array'))
def render(self, mode='human'):
assert mode in ['human', 'state_pixels', 'rgb_array']
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(WINDOW_W, WINDOW_H)
self.score_label = pyglet.text.Label('0000',
font_size=36,
x=20,
y=WINDOW_H * 2.5 / 40.00,
anchor_x='left',
anchor_y='center',
color=(255, 255, 255, 255))
self.transform = rendering.Transform()
if "t" not in self.__dict__: return # reset() not called yet
#zoom = 0.1*SCALE*max(1-self.t, 0) + ZOOM*SCALE*min(self.t, 1) # Animate zoom first second
zoom = 0.1 * SCALE * 0 + ZOOM * SCALE * 1 # Animate zoom first second
scroll_x = self.car.hull.position[0]
scroll_y = self.car.hull.position[1]
angle = -self.car.hull.angle
vel = self.car.hull.linearVelocity
if np.linalg.norm(vel) > 0.5:
angle = math.atan2(vel[0], vel[1])
self.transform.set_scale(zoom, zoom)
self.transform.set_translation(
WINDOW_W / 2 - (scroll_x * zoom * math.cos(angle) -
scroll_y * zoom * math.sin(angle)),
WINDOW_H / 4 - (scroll_x * zoom * math.sin(angle) +
scroll_y * zoom * math.cos(angle)))
self.transform.set_rotation(angle)
self.car.draw(self.viewer, mode != "state_pixels")
arr = None
win = self.viewer.window
win.switch_to()
win.dispatch_events()
win.clear()
t = self.transform
if mode == 'rgb_array':
VP_W = VIDEO_W
VP_H = VIDEO_H
elif mode == 'state_pixels':
VP_W = STATE_W
VP_H = STATE_H
else:
pixel_scale = 1
if hasattr(win.context, '_nscontext'):
pixel_scale = win.context._nscontext.view().backingScaleFactor(
) # pylint: disable=protected-access
VP_W = int(pixel_scale * WINDOW_W)
VP_H = int(pixel_scale * WINDOW_H)
gl.glViewport(0, 0, VP_W, VP_H)
t.enable()
self.render_road()
for geom in self.viewer.onetime_geoms:
geom.render()
self.viewer.onetime_geoms = []
t.disable()
self.render_indicators(WINDOW_W, WINDOW_H)
if mode == 'human':
win.flip()
return self.viewer.isopen
image_data = pyglet.image.get_buffer_manager().get_color_buffer(
).get_image_data()
format = 'RGBA'
pitch = image_data.width * len(format)
arr = np.fromstring(image_data.get_data(format, pitch),
dtype=np.uint8,
sep='')
arr = arr.reshape(VP_H, VP_W, 4)
arr = arr[::-1, :, 0:3]
return arr
def render(self, mode='human'):
screen_width = self.screen_width
screen_height = self.screen_height
#world_width = self.max_position - self.min_position
#scale = screen_width/world_width
carwidth = 20
carheight = 80
if self.viewer is None:
from 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 #self.planet_radius+carheight, self.planet_radius
car = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
self.car_transform = rendering.Transform(translation=(0, 0))
car.add_attr(self.car_transform)
self.cartrans = rendering.Transform()
car.add_attr(self.cartrans)
self.viewer.add_geom(car)
frontwheel = rendering.FilledPolygon([
(-carwidth / 4, 0), (-carwidth / 2, carheight / 2),
(-carwidth, -carheight / 2), (-(3 * carwidth) / 4, -carheight)
])
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.FilledPolygon([
(-carwidth / 4, carheight), (-carwidth / 2, carheight / 2),
(-carwidth, (3 * carheight) / 2),
(-(3 * carwidth) / 4, (2 * carheight))
])
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)
#Planets rendering
#self.planetsTrans = rendering.Transform()
origin_planet = rendering.make_circle(self.planet_radius)
origin_planet.set_color(.7, .7, .3)
#origin_planet.add_attr(self.planetsTrans)
self.origin_planet_transform = rendering.Transform(
translation=(self.origin_planet_center[0],
self.origin_planet_center[1] +
self.planet_radius))
origin_planet.add_attr(self.origin_planet_transform)
self.viewer.add_geom(origin_planet)
target_planet = rendering.make_circle(self.planet_radius)
target_planet.set_color(.6, .2, .1)
#target_planet.add_attr(self.planetsTrans)
self.target_planet_transform = rendering.Transform(
translation=(self.target_planet_center[0],
self.target_planet_center[1] +
self.planet_radius))
target_planet.add_attr(self.target_planet_transform)
self.viewer.add_geom(target_planet)
pos = self.state[0] + self.target_planet_center[0]
posY = self.state[1] + self.target_planet_center[1]
rot = self.state[2]
self.cartrans.set_translation(pos, posY) #self._height(pos)
self.cartrans.set_rotation(rot) # math.cos(3 * pos)
self.target_planet_transform.set_translation(
self.target_planet_center[0], self.target_planet_center[1])
self.origin_planet_transform.set_translation(
self.origin_planet_center[0], self.origin_planet_center[1])
##Planets
#self.planetsTrans.set_translation(self.min_position * scale, self.min_y_position*scale)
#self.planetsTrans.set_rotation(0)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human'):
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.Viewer(self.window_width,
self.window_height)
self.viewer.set_bounds(0, self.window_width, 0, self.window_height)
import os
__location__ = os.path.realpath(
os.path.join(os.getcwd(), os.path.dirname(__file__)))
scaleX = self.window_width / self.area_width
scaleY = self.window_height / self.area_height
scaleZ = self.window_z / self.area_z
# draw red aircraft
pos, vt, att, pos_hist = self._redAC.get_sta()
pos_hist_scale = pos_hist.copy()
pos_hist_scale[::, 0] = pos_hist_scale[::, 0] * scaleX
pos_hist_scale[::, 1] = pos_hist_scale[::, 1] * scaleY
red_ac_img = rendering.Image(
os.path.join(__location__, 'images/f16_red.png'), 36, 36)
jtransform = rendering.Transform(
rotation=-att[2],
translation=np.array([pos[1] * scaleY, pos[0] * scaleX]))
red_ac_img.add_attr(jtransform)
self.viewer.onetime_geoms.append(red_ac_img)
self.viewer.draw_polyline(pos_hist_scale[::5, [-2, -3]], ).set_color(
1, 0, 0)
transform2 = rendering.Transform(
translation=(self.goal_pos[1] * scaleY, self.goal_pos[0] * scaleX))
# Relative offset
self.viewer.draw_circle(50 * scaleX).add_attr(transform2)
transform2 = rendering.Transform(
translation=(self.goal_pos[1] * scaleY, self.goal_pos[0] * scaleX))
# Relative offset
self.viewer.draw_circle(300 * scaleX,
filled=False).add_attr(transform2)
transform3 = rendering.Transform(translation=(pos[1] * scaleY,
pos[0] * scaleX))
# red dangerous circle
self.viewer.draw_circle(2000 * scaleX,
filled=False).add_attr(transform3)
l, r, t, b = 0, 10, -pos[2] / self.area_z * self.window_height, 0
cart = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
cart.set_color(1, 0, 0)
self.viewer.add_onetime(cart)
# velocity bar
l, r, t, b = 20, (vt - 61) / 186 * self.window_width, 10, 0
cart = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
cart.set_color(1, 0, 0)
self.viewer.add_onetime(cart)
# draw blue aircraft
pos, vt, att, pos_hist = self._blueAC.get_sta()
pos_hist_scale = pos_hist.copy()
pos_hist_scale[::, 0] = pos_hist_scale[::, 0] * scaleX
pos_hist_scale[::, 1] = pos_hist_scale[::, 1] * scaleY
blue_ac_img = rendering.Image(
os.path.join(__location__, 'images/f16_blue.png'), 36, 36)
jtransform = rendering.Transform(
rotation=-att[2],
translation=np.array([pos[1] * scaleY, pos[0] * scaleX]))
blue_ac_img.add_attr(jtransform)
self.viewer.onetime_geoms.append(blue_ac_img)
self.viewer.draw_polyline(pos_hist_scale[::5,
[-2, -3]]).set_color(0, 0, 1)
l, r, t, b = 10, 20, -pos[2] / self.area_z * self.window_height, 0
cart = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
cart.set_color(0, 0, 1)
self.viewer.add_onetime(cart)
# velocity bar
l, r, t, b = 20, (vt - 61) / 186 * self.window_width, 20, 10
cart = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
cart.set_color(0, 0, 1)
self.viewer.add_onetime(cart)
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
scale = 10
screen_width = (self.region[1] - self.region[0]) * scale
screen_height = (self.region[3] - self.region[2]) * scale
world_width = self.region[1] - self.region[0]
scale = screen_width / world_width
objwidth = 40
objheight = 40
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(screen_width, screen_height)
#render obstacles
self.render_obsts = []
self.obsts_trans_list = []
for obstacle in self.obstacles:
obst_trans = rendering.Transform()
obst = rendering.make_circle(obstacle[2] * scale)
obst.add_attr(obst_trans)
obst.set_color(0, 0, 0)
self.viewer.add_geom(obst)
self.obsts_trans_list.append(obst_trans)
self.render_obsts.append(obst)
#render goal
self.goal_trans = rendering.Transform()
self.goal_ren = rendering.make_circle(self.goal[2] * scale)
self.goal_ren.add_attr(self.goal_trans)
self.goal_ren.set_color(0, 255, 0)
self.viewer.add_geom(self.goal_ren)
#print("goal[0]={} goal[1]={}".format(self.goal[0],self.goal[1]))
#render arrows
fname = path.join(path.dirname(__file__), "assets/arrow.png")
self.img_list = []
self.imgtrans_list = []
for id in xrange(self.agent_num):
img = rendering.Image(fname, 20., 40.)
#print("img={}".format(img))
imgtrans = rendering.Transform()
img.add_attr(imgtrans)
self.img_list.append(img)
self.imgtrans_list.append(imgtrans)
#print("self.img_list={}, self.imgtrans_list={}".format(self.img_list,self.imgtrans_list))
self.objtrans = rendering.Transform()
l, r, t, b = -objwidth / 2, objwidth / 2, -objheight / 2, objheight / 2
self.obj = rendering.FilledPolygon([(l, b), (l, t), (r, t),
(r, b)])
self.obj.add_attr(self.objtrans)
self.obj.set_color(255, 0, 0)
self.viewer.add_geom(self.obj)
self.scales = []
self.rotations = []
for id in xrange(self.agent_num):
self.scales.append(np.abs(self.action[id * 2]))
self.rotations.append(self.action[id * 2 + 1] -
math.pi / 2) #anti-clockwise
self.arrow_offsets = [[30, 0], [0, -30], [-30, 0], [0, 30]] * scale
for id in xrange(self.agent_num):
self.viewer.add_onetime(self.img_list[id])
self.imgtrans_list[id].set_translation(self.state[0]*scale+self.arrow_offsets[id][0],\
self.state[2]*scale+self.arrow_offsets[id][1]) #follow object #arrow vis V1
#self.imgtrans_list[id].set_translation(self.state[0]*scale,self.state[2]*scale) #arrow vis V2, follow object
#self.imgtrans_list[id].set_translation(100+60*id, 200) #arrow vis V3, fixed position
self.imgtrans_list[id].set_rotation(self.rotations[id]) # rotation
self.imgtrans_list[id].scale = (self.scales[id], self.scales[id])
for i, obst_trans in enumerate(self.obsts_trans_list):
obst_trans.set_translation(self.obstacles[i][0] * scale,
self.obstacles[i][1] * scale)
self.goal_trans.set_translation(self.goal[0] * scale,
self.goal[1] * scale)
self.objtrans.set_translation(self.state[0] * scale,
self.state[2] * scale)
#self.objtrans.set_translation(100, 200)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human'):
screen_width = 600 * 2
screen_height = 400 * 2
world_width = self.x_threshold * 2
scale = screen_width / world_width
carty = 300 # TOP OF CART
polewidth = 10.0
polelen = scale * (2 * self.length)
cartwidth = 50.0
cartheight = 30.0
# position
# 0
# 0.350
if self.viewer is None:
from gym.envs.classic_control import rendering
# self.x_label = pyglet.text.Label('0000', font_size=12,
# x=10, y=200, anchor_x='left', anchor_y='center', color=(0,0,255,255))
self.viewer = rendering.Viewer(screen_width, screen_height)
self.x_label = pyglet.text.Label('0000',
font_size=36,
x=20,
y=400,
anchor_x='left',
anchor_y='center',
color=(255, 0, 0, 255))
self.angle_label = pyglet.text.Label('0000',
font_size=36,
x=20,
y=450,
anchor_x='left',
anchor_y='center',
color=(0, 255, 0, 255))
self.episode_label = pyglet.text.Label('0000',
font_size=36,
x=20,
y=500,
anchor_x='left',
anchor_y='center',
color=(0, 255, 0, 255))
self.viewer.add_geom(DrawText(self.x_label))
self.viewer.add_geom(DrawText(self.angle_label))
self.viewer.add_geom(DrawText(self.episode_label))
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, .0, .0)
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)
self._pole_geom = pole
# Edit the pole polygon vertex
pole = self._pole_geom
l, r, t, b = -polewidth / 2, polewidth / 2, polelen - polewidth / 2, -polewidth / 2
pole.v = [(l, b), (l, t), (r, t), (r, b)]
# x = self.state
pendulum_angle, pendulum_velocity, cart_position, cart_velocity, cart_acceleration, limit_A, limit_B = self.status
# x, x_dot, theta, theta_dot
self.x_label.text = 'x={}'.format(str(cart_position))
self.angle_label.text = 'angle={0:.2f}'.format(self.state[0])
# self.episode_label.text = 'ep={}'.format(str('ep'))
cartx = cart_position * scale + screen_width / 2.0 # MIDDLE OF CART
self.carttrans.set_translation(cartx, carty)
self.poletrans.set_rotation(np.deg2rad(pendulum_angle) + np.pi)
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()
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 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 = 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))
self.viewer.render()
if mode == 'rgb_array':
return self.viewer.get_array()
elif mode is 'human':
pass
else:
return super(MountainCarEnv, self).render(mode=mode)
def render(self, mode='human'):
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
self.viewer.set_bounds(0, VIEWPORT_W / SCALE, 0,
VIEWPORT_H / SCALE)
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))
obj.color2 = (max(0.2, 0.2 + obj.ttl), max(0.2, 0.5 * obj.ttl),
max(0.2, 0.5 * obj.ttl))
self._clean_particles(False)
for p in self.sky_polys:
self.viewer.draw_polygon(p, color=(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 = 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))
W = VIEWPORT_W / SCALE
H = VIEWPORT_H / SCALE
if FUEL_CAPACITY is not None:
fuel_y = self.fuel / FUEL_CAPACITY * 100.0
self.viewer.draw_polygon([(10 / SCALE, H / 2), (20 / SCALE, H / 2),
(20 / SCALE, H / 2 + fuel_y / SCALE),
(10 / SCALE, H / 2 + fuel_y / SCALE)],
color=(0.9, 0.5, 0.5))
self.viewer.draw_polyline([(10 / SCALE, H / 2),
(20 / SCALE, H / 2),
(20 / SCALE, H / 2 + 100 / SCALE),
(10 / SCALE, H / 2 + 100 / SCALE)],
color=(0.9, 0.5, 0.5))
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human'):
radius = 20
diameter = radius * 2
separation_factor = 1.2
separation = int(diameter * separation_factor)
left_padding = radius + separation
screen_width = left_padding + (self.chain_length +
2) * separation + radius
screen_height = 500
resolution = 300
y_center = screen_height // 2
y_top = y_center + radius * separation_factor
y_bottom = y_center - radius * separation_factor
if self.viewer is None:
self.viewer = rendering.Viewer(screen_width, screen_height)
initial_circle = rendering.make_circle(radius=radius,
res=resolution)
translation = rendering.Transform(translation=(left_padding,
y_center))
initial_circle.add_attr(translation)
self.viewer.add_geom(initial_circle)
self.viewer.add_geom(
rendering.Line((left_padding + radius, y_center),
(left_padding + separation // 2, y_center)))
self.viewer.add_geom(
rendering.Line((left_padding + separation // 2, y_bottom),
(left_padding + separation // 2, y_top)))
self.viewer.add_geom(
rendering.Line((left_padding + separation // 2, y_top),
(left_padding + separation - radius, y_top)))
self.viewer.add_geom(
rendering.Line((left_padding + separation // 2, y_bottom),
(left_padding + separation - radius, y_bottom)))
self.circles = []
self.translations = []
x_offset = left_padding + separation
for t in range(self.chain_length - 1):
top_circle = rendering.make_circle(radius=radius,
res=resolution,
filled=False)
bottom_circle = rendering.make_circle(radius=radius,
res=resolution,
filled=False)
top_translation = rendering.Transform(translation=(x_offset,
y_top))
bottom_translation = rendering.Transform(
translation=(x_offset, y_bottom))
top_circle.add_attr(top_translation)
bottom_circle.add_attr(bottom_translation)
self.viewer.add_geom(top_circle)
self.viewer.add_geom(bottom_circle)
top_line = rendering.Line(
(x_offset + radius, y_top),
(x_offset + separation - radius, y_top))
bottom_line = rendering.Line(
(x_offset + radius, y_bottom),
(x_offset + separation - radius, y_bottom))
self.viewer.add_geom(top_line)
self.viewer.add_geom(bottom_line)
if self.rewarded_action == 1:
self.circles.append(top_circle)
self.translations.append(top_translation)
else:
self.circles.append(bottom_circle)
self.translations.append(bottom_translation)
x_offset += separation
terminal_top_circle = rendering.make_circle(radius=radius,
res=resolution)
terminal_bottom_circle = rendering.make_circle(radius=radius,
res=resolution)
terminal_top_translation = rendering.Transform(
translation=(x_offset, y_top))
terminal_bottom_translation = rendering.Transform(
translation=(x_offset, y_bottom))
terminal_top_circle.add_attr(terminal_top_translation)
terminal_bottom_circle.add_attr(terminal_bottom_translation)
terminal_top_circle.set_color(52 / 255, 235 / 255,
95 / 255) # green
terminal_bottom_circle.set_color(235 / 255, 64 / 255,
52 / 255) # red
self.viewer.add_geom(terminal_top_circle)
self.viewer.add_geom(terminal_bottom_circle)
if self.timestep < self.chain_length:
filled_circle = self.viewer.draw_circle(radius=radius,
res=resolution)
stroke_circle = self.viewer.draw_circle(radius=radius,
res=resolution,
filled=False)
if self.reward == 1:
filled_circle.set_color(52 / 255, 235 / 255, 95 / 255) # green
elif self.reward == -1:
filled_circle.set_color(235 / 255, 64 / 255, 52 / 255) # red
filled_circle.add_attr(self.translations[self.timestep - 1])
stroke_circle.add_attr(self.translations[self.timestep - 1])
self.viewer.add_geom(filled_circle)
self.viewer.add_geom(stroke_circle)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, trace=True):
screen_width = 600
screen_height = 600
offset = 25
arrow_size = 50
width_scale = (screen_width - 2 * offset) / (2 * self.rmax_norm)
height_scale = (screen_height - 2 * offset) / (2 * self.rmax_norm)
if self.viewer is None:
self.viewer = rendering.Viewer(screen_width, screen_height)
# 绘制P
circle_p = rendering.make_circle(5)
self.circle_p_trans = rendering.Transform()
circle_p.add_attr(self.circle_p_trans)
circle_p.set_color(*self.color_p)
self.viewer.add_geom(circle_p)
# 绘制E
circle_e = rendering.make_circle(5)
self.circle_e_trans = rendering.Transform()
circle_e.add_attr(self.circle_e_trans)
circle_e.set_color(*self.color_e)
self.viewer.add_geom(circle_e)
# 绘制轨迹
if trace:
# P轨迹
line_p = rendering.make_polyline(self.trace_p)
line_p.set_color(*self.color_p)
self.viewer.add_geom(line_p)
# E轨迹
line_e = rendering.make_polyline(self.trace_e)
line_e.set_color(*self.color_e)
self.viewer.add_geom(line_e)
if self.state is None:
return None
r_p, v_p, theta_p, gamma_p, m_p = self.state_p
r_e, v_e, theta_e, gamma_e, m_e = self.state_e
x_p = r_p * cos(theta_p)
y_p = r_p * sin(theta_p)
x_e = r_e * cos(theta_e)
y_e = r_e * sin(theta_e)
if not self.norm:
x_p /= DU
y_p /= DU
x_e /= DU
y_e /= DU
circle_p_x = width_scale * x_p + screen_width / 2
circle_e_x = width_scale * x_e + screen_width / 2
circle_p_y = height_scale * y_p + screen_height / 2
circle_e_y = height_scale * y_e + screen_height / 2
self.trace_p.append((circle_p_x, circle_p_y))
self.trace_e.append((circle_e_x, circle_e_y))
self.circle_p_trans.set_translation(circle_p_x, circle_p_y)
self.circle_e_trans.set_translation(circle_e_x, circle_e_y)
if self.last_action_p is not None:
arrow_p = self.last_action_p.arrow(arrow_size)
if arrow_p is not None:
arrow_p.add_attr(
rendering.Transform(translation=(circle_p_x, circle_p_y),
rotation=theta_p))
arrow_p.set_color(*self.color_p)
self.viewer.add_geom(arrow_p)
if self.last_action_e is not None:
arrow_e = self.last_action_e.arrow(arrow_size)
if arrow_e is not None:
arrow_e.add_attr(
rendering.Transform(translation=(circle_e_x, circle_e_y),
rotation=theta_e))
arrow_e.set_color(*self.color_e)
self.viewer.add_geom(arrow_e)
return self.viewer.render()
def render(self, mode='human'):
from gym.envs.classic_control import rendering
screen_width = 600
screen_height = 400
world_width = self.max_position - self.min_position
x_scale = screen_width / (world_width + 0.1)
y_scale = screen_height * 0.8
carwidth = 40
carheight = 20
if self.viewer is None:
self.viewer = rendering.Viewer(screen_width, screen_height)
xs = np.linspace(self.min_position - 0.05,
self.max_position + 0.05, 100)
ys = self._ys(xs)
xys = list(zip(self._xs(xs) * x_scale, ys * y_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)
for color, pos in zip(GOAL_COLORS, self.goal_position):
flagx = self._xs(pos) * x_scale
flagy1 = self._ys(pos) * y_scale
flagy2 = flagy1 + 50
flagpole = rendering.Line((flagx, flagy1), (flagx, flagy2))
self.viewer.add_onetime(flagpole)
sign = -1 if (self.max_position - pos) < 0.5 else 1
flag = rendering.FilledPolygon([(flagx, flagy2),
(flagx, flagy2 - 10),
(flagx + sign * 25, flagy2 - 5)])
flag.set_color(*color)
self.viewer.add_onetime(flag)
pos = self.state[0]
self.cartrans.set_translation(
self._xs(pos) * x_scale,
self._ys(pos) * y_scale)
# height is (1 + cos(2 * pi * x)) / 2
# so gradient is -pi * sin(2 * pi * x)
# take arctan of this to get the angle of the slope
self.cartrans.set_rotation(np.arctan(np.sin(2 * np.pi * pos) * -np.pi))
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, car_idx=None, mode='human', pts=None):
# If car_idx = None, then all cars should be shown in different windows
if car_idx is None:
for i in range(NUM_VEHICLES):
self.render(i, mode, pts)
return
# Make the transforms and score labels if needed
if "score_labels" not in self.__dict__:
self.score_labels = [[] for i in range(NUM_VEHICLES)]
if "transforms" not in self.__dict__:
self.transforms = [None for i in range(NUM_VEHICLES)]
# Construct a viewer for this car with score label and transform object
if self.viewers[car_idx] is None:
self.viewers[car_idx] = rendering.Viewer(WINDOW_W, WINDOW_H)
self.score_labels[car_idx].append(pyglet.text.Label('traffic_light: ?', font_size=12,
x=10, y=80,
anchor_x='left', anchor_y='center', font_name='Helvetica',
color=(255,255,255,255)))
self.score_labels[car_idx].append(pyglet.text.Label('lane_localization: ?', font_size=12,
x=10, y=60,
anchor_x='left', anchor_y='center', font_name='Helvetica',
color=(255,255,255,255)))
self.score_labels[car_idx].append(pyglet.text.Label('type_intersection: ?', font_size=12,
x=10, y=40,
anchor_x='left', anchor_y='center', font_name='Helvetica',
color=(255,255,255,255)))
self.score_labels[car_idx].append(pyglet.text.Label('only_turn: ?', font_size=12,
x=10, y=20,
anchor_x='left', anchor_y='center', font_name='Helvetica',
color=(255,255,255,255)))
self.transforms[car_idx] = rendering.Transform()
if "t" not in self.__dict__: return # reset() not called yet
# Create zoom effect and car following for this specific car
# zoom = 0.1*SCALE*max(1-self.t[car_idx], 0) + ZOOM*SCALE*min(self.t[car_idx], 1) # Animate zoom first second
zoom = ZOOM*SCALE
scroll_x = self.cars[car_idx].hull.position[0]
scroll_y = self.cars[car_idx].hull.position[1]
angle = -self.cars[car_idx].hull.angle
vel = self.cars[car_idx].hull.linearVelocity
if np.linalg.norm(vel) > 0.5:
angle = math.atan2(vel[0], vel[1])
self.transforms[car_idx].set_scale(zoom, zoom)
self.transforms[car_idx].set_translation(
WINDOW_W/2 - (scroll_x*zoom*math.cos(angle) - scroll_y*zoom*math.sin(angle)),
WINDOW_H/2 - (scroll_x*zoom*math.sin(angle) + scroll_y*zoom*math.cos(angle)) )
self.transforms[car_idx].set_rotation(angle)
# Comment out the block above and uncomment below if you want to see whole map
# Also do the changes at the beginning of the file
# self.transforms[car_idx].set_translation(WINDOW_W/2, WINDOW_H/2)
# Iterate through traffic lights
# We only want to show the relevant traffic lights
# 1. Find out which node in the lattice is relevant
# 2. Find out traffic lights in current rectangle (if we have r/l lane classification)
# 3. Show just that
showed_traffic_light = None
count_lights = None
shift_pos = None
if self.last_pid[car_idx] != -1:
relevant_node = self.last_relevant_node[car_idx]
classification_val = self.loc[car_idx] == "right"
shift_pos = self.off_params
shift_pos = (
shift_pos[1]+relevant_node[1]*EDGE_WIDTH,
shift_pos[0]+relevant_node[0]*EDGE_WIDTH
)
if classification_val:
i = -1
if relevant_node in self.which_points:
i = self.which_points.index(relevant_node)
if i != -1:
for light in self.lights[i]:
light_polygons = light.get_polygons(shift_pos) # should also step
traffic_light_pos = Point(light.shifted_pos(shift_pos))
our_polygon = Polygon(self.road_poly[self.last_pid[car_idx]][0])
# print(light.pos, self.road_poly[self.last_pid[car_idx]][0])
if not our_polygon.contains(traffic_light_pos):
continue
# Uncomment if you want a circle outside traffic light
## self.viewer.draw_polygon(light_polygons[0], color=TRAFFIC_LIGHT_OUTER_COLOR)
# Draw triangles for directions or square box for stop
showed_traffic_light = light.state_cycle[light.state_idx]
count_lights = len(self.lights[i])
self.viewers[car_idx].draw_polygon(light_polygons[1], color=TRAFFIC_LIGHT_INNER_COLOR)
# Get the only possible turn at this junction
my_last_rect_pid = self.last_rect_pid[car_idx]
only_turn = None
if my_last_rect_pid and my_last_rect_pid != -1:
rni, rnj = self.last_relevant_node[car_idx]
neighbor_info = list(self.lattice[rni, rnj, 1:])
my_dir_last = self.directions[my_last_rect_pid]
if np.sum(neighbor_info) == 2:
if neighbor_info == [False, False, True, True]:
if my_dir_last == 'r':
only_turn = "right"
elif my_dir_last == 't':
only_turn = "left"
elif neighbor_info == [True, True, False, False]:
if my_dir_last == 'l':
only_turn = "right"
elif my_dir_last == 'b':
only_turn = "left"
elif neighbor_info == [False, True, True, False]:
if my_dir_last == 'l':
only_turn = "left"
elif my_dir_last == 't':
only_turn = "right"
elif neighbor_info == [True, False, False, True]:
if my_dir_last == 'r':
only_turn = "left"
elif my_dir_last == 'b':
only_turn = "right"
# Lane separators
for polygon in self.ls_polygons:
self.viewers[car_idx].draw_polygon(polygon, color=LANE_SEP_COLOR)
# Draw all cars on the viewer
for ci in range(NUM_VEHICLES):
self.cars[ci].draw(self.viewers[car_idx], mode!="state_pixels")
# Do the actual rendering using pyglet.gl
arr = None
win = self.viewers[car_idx].window
# If play mode, then assign key press and key release events
if self.play_mode:
if car_idx == self.play_mode_car_idx:
win.on_key_press = lambda k, mod: self.key_press(k, mod, car_idx)
win.on_key_release = lambda k, mod: self.key_release(k, mod, car_idx)
if mode != 'state_pixels':
win.switch_to()
win.dispatch_events()
if mode=="rgb_array" or mode=="state_pixels":
win.clear()
t = self.transforms[car_idx]
if mode=='rgb_array':
VP_W = VIDEO_W
VP_H = VIDEO_H
else:
VP_W = STATE_W
VP_H = STATE_H
gl.glViewport(0, 0, VP_W, VP_H)
t.enable()
self.render_road()
self.show_risk()
self.render_additional_points(pts)
for geom in self.viewers[car_idx].onetime_geoms:
geom.render()
t.disable()
# self.render_indicators(WINDOW_W, WINDOW_H, car_idx=car_idx) # TODO: find why 2x needed
image_data = pyglet.image.get_buffer_manager().get_color_buffer().get_image_data()
# image_data.save('tmp%d.png'%car_idx)
arr = np.frombuffer(image_data.data, dtype=np.uint8)
arr = arr.reshape(VP_H, VP_W, 4)
arr = arr[::-1, :, 0:3].astype(np.float64)
# arr = rgb2gray(arr)
# arr = arr.reshape(arr.shape[0], arr.shape[1], 1)
arr /= 255.0
if mode=="rgb_array" and not self.human_render: # agent can call or not call env.render() itself when recording video.
win.flip()
if mode=='human':
self.human_render = True
win.clear()
t = self.transforms[car_idx]
gl.glViewport(0, 0, WINDOW_W, WINDOW_H)
t.enable()
self.render_road()
self.show_risk()
self.render_additional_points(pts)
for geom in self.viewers[car_idx].onetime_geoms:
geom.render()
t.disable()
# self.render_indicators(WINDOW_W, WINDOW_H, car_idx=car_idx)
win.flip()
self.viewers[car_idx].onetime_geoms = []
return arr, [showed_traffic_light, count_lights if count_lights else None, only_turn, shift_pos]
def render(self, mode='human'):
""" Renders the environment.
if_vis_trajectory : whether to vis the trajectory
if_vis_visual_aid : whether vis the collision range, fetchable range, and stealable range.
"""
from gym.envs.classic_control import rendering
if not self.if_vis_trajectory:
if self.viewer is None:
self.viewer = rendering.Viewer(940 + 100, 500 + 100)
# feet # coordinates
self.viewer.set_bounds(0 - 5, 94 + 5, 0 - 5, 50 + 5)
# background img
fname = path.join(path.dirname(__file__), "fullcourt.png")
img = rendering.Image(fname, 94, 50)
imgtrans = rendering.Transform(translation=(47.0, 25.0))
img.add_attr(imgtrans)
self.viewer.add_geom(img)
# defensive players
for _ in range(5):
def_player = rendering.make_circle(radius=2.)
def_player.set_color(0, 0, 1)
def_trans = rendering.Transform()
self.def_pl_transforms.append(def_trans)
def_player.add_attr(def_trans)
self.viewer.add_geom(def_player)
if self.if_vis_visual_aid:
def_player_screen = rendering.make_circle(
radius=self.screen_radius, filled=False)
def_player_wingspan = rendering.make_circle(
radius=self.wingspan_radius, filled=False)
def_player_screen.set_color(0, 0, 0.75)
def_player_wingspan.set_color(0.5, 0.5, 0.5)
def_player_screen.add_attr(def_trans)
def_player_wingspan.add_attr(def_trans)
self.viewer.add_geom(def_player_screen)
self.viewer.add_geom(def_player_wingspan)
# offensive players
for _ in range(5):
off_player = rendering.make_circle(radius=2.)
off_player.set_color(1, 0, 0)
off_trans = rendering.Transform()
self.off_pl_transforms.append(off_trans)
off_player.add_attr(off_trans)
self.viewer.add_geom(off_player)
if self.if_vis_visual_aid:
off_player_screen = rendering.make_circle(
radius=self.screen_radius, filled=False)
off_player_wingspan = rendering.make_circle(
radius=self.wingspan_radius, filled=False)
off_stolen_range = rendering.make_circle(
radius=self.stolen_radius, filled=False)
off_player_screen.set_color(0.75, 0, 0)
off_player_wingspan.set_color(0.5, 0.5, 0.5)
off_stolen_range.set_color(0, 0, 0.75)
off_player_screen.add_attr(off_trans)
off_player_wingspan.add_attr(off_trans)
off_stolen_range.add_attr(off_trans)
self.viewer.add_geom(off_player_screen)
self.viewer.add_geom(off_player_wingspan)
self.viewer.add_geom(off_stolen_range)
# ball
ball = rendering.make_circle(radius=1.)
ball.set_color(0, 1, 0)
ball_trans = rendering.Transform()
self.ball_transform = ball_trans
ball.add_attr(ball_trans)
self.viewer.add_geom(ball)
### set translations ###
# defensive players
for trans, pos in zip(self.def_pl_transforms,
self.states.defense_positions):
trans.set_translation(pos[0], pos[1])
# offensive players
for trans, pos in zip(self.off_pl_transforms,
self.states.offense_positions):
trans.set_translation(pos[0], pos[1])
# ball
ball_pos = self.states.ball_position
self.ball_transform.set_translation(ball_pos[0], ball_pos[1])
# vis the end position
if self.states.done:
shoot_icon = rendering.make_circle(radius=3.)
shoot_icon.set_color(0, 1, 0)
shoot_icon_trans = rendering.Transform()
shoot_icon_pos = self.states.ball_position
shoot_icon_trans.set_translation(shoot_icon_pos[0],
shoot_icon_pos[1])
shoot_icon.add_attr(shoot_icon_trans)
self.viewer.add_onetime(shoot_icon)
if self.if_vis_trajectory:
if self.viewer is None:
self.viewer = rendering.Viewer(940 + 100, 500 + 100)
# feet # coordinates
self.viewer.set_bounds(0 - 5, 94 + 5, 0 - 5, 50 + 5)
# background img
fname = path.join(path.dirname(__file__), "fullcourt.png")
img = rendering.Image(fname, 94, 50)
imgtrans = rendering.Transform(translation=(47.0, 25.0))
img.add_attr(imgtrans)
self.viewer.add_geom(img)
# defensive players
for i in range(5):
def_player = rendering.make_circle(radius=2.)
def_player.set_color(0, 0, 1)
def_trans = rendering.Transform()
pos = self.states.defense_positions[i]
def_trans.set_translation(pos[0], pos[1])
def_player.add_attr(def_trans)
self.viewer.add_geom(def_player)
if self.if_vis_visual_aid:
def_player_screen = rendering.make_circle(
radius=self.screen_radius, filled=False)
def_player_wingspan = rendering.make_circle(
radius=self.wingspan_radius, filled=False)
def_player_screen.set_color(0, 0, 0.75)
def_player_wingspan.set_color(0.5, 0.5, 0.5)
def_player_screen.add_attr(def_trans)
def_player_wingspan.add_attr(def_trans)
self.viewer.add_geom(def_player_screen)
self.viewer.add_geom(def_player_wingspan)
# offensive players
for i in range(5):
off_player = rendering.make_circle(radius=2.)
off_player.set_color(1, 0, 0)
off_trans = rendering.Transform()
pos = self.states.offense_positions[i]
off_trans.set_translation(pos[0], pos[1])
off_player.add_attr(off_trans)
self.viewer.add_geom(off_player)
if self.if_vis_visual_aid:
off_player_screen = rendering.make_circle(
radius=self.screen_radius, filled=False)
off_player_wingspan = rendering.make_circle(
radius=self.wingspan_radius, filled=False)
off_stolen_range = rendering.make_circle(
radius=self.stolen_radius, filled=False)
off_player_screen.set_color(0.75, 0, 0)
off_player_wingspan.set_color(0.5, 0.5, 0.5)
off_stolen_range.set_color(0, 0, 0.75)
off_player_screen.add_attr(off_trans)
off_player_wingspan.add_attr(off_trans)
off_stolen_range.add_attr(off_trans)
self.viewer.add_geom(off_player_screen)
self.viewer.add_geom(off_player_wingspan)
self.viewer.add_geom(off_stolen_range)
# ball
ball = rendering.make_circle(radius=1.)
ball.set_color(0, 1, 0)
ball_trans = rendering.Transform()
ball_pos = self.states.ball_position
ball_trans.set_translation(ball_pos[0], ball_pos[1])
ball.add_attr(ball_trans)
self.viewer.add_geom(ball)
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
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
self.viewer.set_bounds(0, W, 0, H)
sky = rendering.FilledPolygon(((0, 0), (0, H), (W, H), (W, 0)))
self.sky_color = rgb(126, 150, 233)
sky.set_color(*self.sky_color)
self.sky_color_half_transparent = np.array(
(np.array(self.sky_color) + rgb(255, 255, 255))) / 2
self.viewer.add_geom(sky)
self.rockettrans = rendering.Transform()
engine = rendering.FilledPolygon(
((0, 0), (ENGINE_WIDTH / 2, -ENGINE_HEIGHT),
(-ENGINE_WIDTH / 2, -ENGINE_HEIGHT)))
self.enginetrans = rendering.Transform()
engine.add_attr(self.enginetrans)
engine.add_attr(self.rockettrans)
engine.set_color(.4, .4, .4)
self.viewer.add_geom(engine)
self.fire = rendering.FilledPolygon(
((ENGINE_WIDTH * 0.4, 0), (-ENGINE_WIDTH * 0.4, 0),
(-ENGINE_WIDTH * 1.2, -ENGINE_HEIGHT * 5),
(0, -ENGINE_HEIGHT * 8), (ENGINE_WIDTH * 1.2,
-ENGINE_HEIGHT * 5)))
self.fire.set_color(*rgb(255, 230, 107))
self.firescale = rendering.Transform(scale=(1, 1))
self.firetrans = rendering.Transform(translation=(0,
-ENGINE_HEIGHT))
self.fire.add_attr(self.firescale)
self.fire.add_attr(self.firetrans)
self.fire.add_attr(self.enginetrans)
self.fire.add_attr(self.rockettrans)
smoke = rendering.FilledPolygon(
((ROCKET_WIDTH / 2, THRUSTER_HEIGHT * 1),
(ROCKET_WIDTH * 3, THRUSTER_HEIGHT * 1.03),
(ROCKET_WIDTH * 4, THRUSTER_HEIGHT * 1),
(ROCKET_WIDTH * 3, THRUSTER_HEIGHT * 0.97)))
smoke.set_color(*self.sky_color_half_transparent)
self.smokescale = rendering.Transform(scale=(1, 1))
smoke.add_attr(self.smokescale)
smoke.add_attr(self.rockettrans)
self.viewer.add_geom(smoke)
self.gridfins = []
for i in (-1, 1):
finpoly = ((i * ROCKET_WIDTH * 1.1, THRUSTER_HEIGHT * 1.01),
(i * ROCKET_WIDTH * 0.4, THRUSTER_HEIGHT * 1.01),
(i * ROCKET_WIDTH * 0.4, THRUSTER_HEIGHT * 0.99),
(i * ROCKET_WIDTH * 1.1, THRUSTER_HEIGHT * 0.99))
gridfin = rendering.FilledPolygon(finpoly)
gridfin.add_attr(self.rockettrans)
gridfin.set_color(0.25, 0.25, 0.25)
self.gridfins.append(gridfin)
if self.stepnumber % round(FPS / 10) == 0 and self.power > 0:
s = [
MAX_SMOKE_LIFETIME * self.power, # total lifetime
0, # current lifetime
self.power * (1 + 0.2 * np.random.random()), # size
np.array(self.lander.position) +
self.power * ROCKET_WIDTH * 10 * np.array(
(np.sin(self.lander.angle + self.gimbal),
-np.cos(self.lander.angle + self.gimbal))) +
self.power * 5 * (np.random.random(2) - 0.5)
] # position
self.smoke.append(s)
for s in self.smoke:
s[1] += 1
if s[1] > s[0]:
self.smoke.remove(s)
continue
t = rendering.Transform(translation=(s[3][0],
s[3][1] + H * s[1] / 2000))
self.viewer.draw_circle(
radius=0.05 * s[1] + s[2],
color=self.sky_color + (1 - (2 * s[1] / s[0] - 1)**2) / 3 *
(self.sky_color_half_transparent - self.sky_color)).add_attr(t)
self.viewer.add_onetime(self.fire)
for g in self.gridfins:
self.viewer.add_onetime(g)
for obj in self.drawlist:
for f in obj.fixtures:
trans = f.body.transform
path = [trans * v for v in f.shape.vertices]
self.viewer.draw_polygon(path, color=obj.color1)
for l in zip(self.legs, [-1, 1]):
path = [
self.lander.fixtures[0].body.transform *
(l[1] * ROCKET_WIDTH / 2, ROCKET_HEIGHT / 8),
l[0].fixtures[0].body.transform * (l[1] * LEG_LENGTH * 0.8, 0)
]
self.viewer.draw_polyline(path,
color=self.ship.color1,
linewidth=1 if START_HEIGHT > 500 else 2)
self.viewer.draw_polyline(
((self.helipad_x2, self.terrainheigth + SHIP_HEIGHT),
(self.helipad_x1, self.terrainheigth + SHIP_HEIGHT)),
color=rgb(206, 206, 2),
linewidth=1)
self.rockettrans.set_translation(*self.lander.position)
self.rockettrans.set_rotation(self.lander.angle)
self.enginetrans.set_rotation(self.gimbal)
self.firescale.set_scale(newx=1,
newy=self.power * np.random.uniform(1, 1.3))
self.smokescale.set_scale(newx=self.force_dir, newy=1)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def _render(self, mode='human', close=False, values=None):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None
return
size = 6
px_per_cell = 120
size_px = size * px_per_cell
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(size_px, size_px)
for x in range(size + 1):
for y in range(size + 1):
x_line = rendering.Line((px_per_cell * x, 0), (px_per_cell * x, size_px))
y_line = rendering.Line((0, px_per_cell * y), (size_px, px_per_cell * y))
self.viewer.add_geom(x_line)
self.viewer.add_geom(y_line)
robot_width = px_per_cell*3/4
poly = [(-robot_width/2,-robot_width/2),
(-robot_width/2,robot_width/2),
(robot_width/2,robot_width/2),
(robot_width/2,-robot_width/2)]
self.robot = self.viewer.draw_polygon(poly,filled=False)
self.viewer.add_geom(self.robot)
self.robot_transform = rendering.Transform()
self.robot.add_attr(self.robot_transform)
self.robot.attrs[0].vec4 = (0,0,1,1)
self.robot.attrs[1] = rendering.LineWidth(5)
self.opponent = self.viewer.draw_polygon(poly,filled=False)
self.viewer.add_geom(self.opponent)
self.opponent_transform = rendering.Transform()
self.opponent.add_attr(self.opponent_transform)
self.opponent.attrs[0].vec4 = (1,0,0,1)
self.opponent.attrs[1] = rendering.LineWidth(5)
location = getxy(self.state.blue_data[0])
self.robot_transform.set_translation(location[0] * px_per_cell + px_per_cell / 2,
size_px - location[1] * px_per_cell - px_per_cell / 2 - px_per_cell/8)
location = getxy(self.state.red_data[0])
self.opponent_transform.set_translation(location[0] * px_per_cell + px_per_cell / 2,
size_px - location[1] * px_per_cell - px_per_cell / 2 - px_per_cell/8)
for i in range(self.red_goals):
goal = self.viewer.draw_circle(radius=px_per_cell / 5, filled=True)
self.viewer.add_geom(goal)
goal_transform = rendering.Transform()
goal.add_attr(goal_transform)
goal.attrs[0].vec4 = (1,0,0,0.5)
location = getxy(self.state.goal_data[i][0])
goal_transform.set_translation(location[0] * px_per_cell + px_per_cell / 2,
size_px - location[1] * px_per_cell - px_per_cell / 2)
label = pyglet.text.Label(str(self.state.goal_data[i][1]),
font_name='Times New Roman',
font_size=15,
color=(0,0,0,255),
x=location[0] * px_per_cell + px_per_cell / 2, y=size_px - location[1] * px_per_cell - px_per_cell / 2,
anchor_x='center', anchor_y='center')
self.viewer.add_geom(label)
for i in range(self.blue_goals):
goal = self.viewer.draw_circle(radius=px_per_cell / 5, filled=True)
self.viewer.add_geom(goal)
goal_transform = rendering.Transform()
goal.add_attr(goal_transform)
goal.attrs[0].vec4 = (0,0,1,0.5)
location = getxy(self.state.goal_data[i+self.red_goals][0])
goal_transform.set_translation(location[0] * px_per_cell + px_per_cell / 2,
size_px - location[1] * px_per_cell - px_per_cell / 2)
label = pyglet.text.Label(str(self.state.goal_data[i+self.red_goals][1]),
font_name='Times New Roman',
font_size=15,
color=(0,0,0,255),
x=location[0] * px_per_cell + px_per_cell / 2, y=size_px - location[1] * px_per_cell - px_per_cell / 2,
anchor_x='center', anchor_y='center')
self.viewer.add_geom(label)
for i in range(self.field_locations):
if self.state.tile_data[i] >0:
location = getxy(i)
label = pyglet.text.Label(str(self.state.tile_data[i]),
font_name='Times New Roman',
font_size=15,
color=(0,0,0,255),
x=location[0] * px_per_cell + px_per_cell / 2, y=size_px - location[1] * px_per_cell - px_per_cell / 8,
anchor_x='center', anchor_y='center')
self.viewer.add_geom(label)
location = getxy(12)
redLoads = pyglet.text.Label(str(self.state.red_data[3]),
font_name='Times New Roman',
font_size=15,
color=(255,0,0,255),
x=location[0] * px_per_cell + px_per_cell / 2, y=size_px - location[1] * px_per_cell - px_per_cell / 8,
anchor_x='center', anchor_y='center')
self.viewer.add_geom(redLoads)
location = getxy(2)
blueLoads = pyglet.text.Label(str(self.state.blue_data[3]),
font_name='Times New Roman',
font_size=15,
color=(0,0,255,255),
x=location[0] * px_per_cell + px_per_cell / 2, y=size_px - location[1] * px_per_cell - px_per_cell / 8,
anchor_x='center', anchor_y='center')
self.viewer.add_geom(blueLoads)
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 = 800
screen_height = 800
scale_width = screen_width / (self.bound_box[0, 1] -
self.bound_box[0, 0])
scale_height = screen_height / (self.bound_box[1, 1] -
self.bound_box[1, 0])
zero_width = scale_width * (-self.bound_box[0, 0])
zero_height = scale_height * (-self.bound_box[1, 0])
drone_width = 20
drone_height = 20
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(screen_width, screen_height)
l, r, t, b = -drone_width / 2, drone_width / 2, drone_height / 2, -drone_height / 2
drone = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
self.drone_trans = rendering.Transform()
drone.add_attr(self.drone_trans)
self.viewer.add_geom(drone)
goal = rendering.make_circle(scale_height * 0.2)
goal.set_color(.0, 1.0, .0)
self.goal_trans = rendering.Transform()
goal.add_attr(self.goal_trans)
self.viewer.add_geom(goal)
obstacles = []
self.obstacle_trans = []
# add_geom
for it_obstacle in range(self.obstacle_num):
if self.obstacle_type[it_obstacle] == 'cylinder':
radius = scale_height * self.obstacle_dim[it_obstacle]
obstacles.append(rendering.make_circle(radius))
obstacles[it_obstacle].set_color(1.0, .0, .0)
self.obstacle_trans.append(rendering.Transform())
obstacles[it_obstacle].add_attr(
self.obstacle_trans[it_obstacle])
self.viewer.add_geom(obstacles[it_obstacle])
elif self.obstacle_type[it_obstacle] == 'rectangle':
obst_dim = self.obstacle_dim[it_obstacle]
rect_width = obst_dim[0] * scale_width
rect_height = obst_dim[1] * scale_height
l, r, t, b = -rect_width / 2, rect_width / 2, rect_height / 2, -rect_height / 2
obstacles.append(
rendering.FilledPolygon([(l, b), (l, t), (r, t),
(r, b)]))
obstacles[it_obstacle].set_color(1.0, .0, .0)
self.obstacle_trans.append(rendering.Transform())
obstacles[it_obstacle].add_attr(
self.obstacle_trans[it_obstacle])
self.viewer.add_geom(obstacles[it_obstacle])
elif self.obstacle_type[it_obstacle] == 'wall':
wall_vector = self.obstacle_dim[
it_obstacle] - self.obstacle_pos[it_obstacle, :2]
wall_width = np.linalg.norm(wall_vector) * scale_width
wall_height = 5
l, r, t, b = 0, wall_width, 0, wall_height
obstacles.append(
rendering.FilledPolygon([(l, b), (l, t), (r, t),
(r, b)]))
obstacles[it_obstacle].set_color(1.0, 0.0, 0.0)
self.obstacle_trans.append(rendering.Transform())
obstacles[it_obstacle].add_attr(
self.obstacle_trans[it_obstacle])
self.viewer.add_geom(obstacles[it_obstacle])
laser_readings = []
self.laser_readings_array = []
for it_laser in range(self.num_samples_laser):
laser_readings.append(rendering.make_circle(3))
laser_readings[it_laser].set_color(0.0, 0.0, 1.0)
self.laser_readings_array.append(rendering.Transform())
laser_readings[it_laser].add_attr(
self.laser_readings_array[it_laser])
self.viewer.add_geom(laser_readings[it_laser])
if self.state is None: return None
drone_x = self.state[0] * scale_width + zero_width
drone_y = self.state[1] * scale_height + zero_height
self.drone_trans.set_translation(drone_x, drone_y)
self.drone_trans.set_rotation(self.state[2])
goal_x = self.goal_pos[0] * scale_width + zero_width
goal_y = self.goal_pos[1] * scale_height + zero_height
self.goal_trans.set_translation(goal_x, goal_y)
# set_translation
for it_obstacles in range(self.obstacle_num):
if self.obstacle_type[it_obstacles] == 'cylinder':
object_it_pos = self.obstacle_pos[it_obstacles]
obstacle_x = object_it_pos[0] * scale_width + zero_width
obstacle_y = object_it_pos[1] * scale_height + zero_height
self.obstacle_trans[it_obstacles].set_translation(
obstacle_x, obstacle_y)
elif self.obstacle_type[it_obstacles] == 'rectangle':
object_it_pos = self.obstacle_pos[it_obstacles]
obstacle_x = object_it_pos[0] * scale_width + zero_width
obstacle_y = object_it_pos[1] * scale_height + zero_height
self.obstacle_trans[it_obstacles].set_translation(
obstacle_x, obstacle_y)
self.obstacle_trans[it_obstacles].set_rotation(
object_it_pos[2])
elif self.obstacle_type[it_obstacles] == 'wall':
wall_pose = self.obstacle_pos[it_obstacles]
wall_x = wall_pose[0] * scale_width + zero_width
wall_y = wall_pose[1] * scale_height + zero_height
self.obstacle_trans[it_obstacles].set_translation(
wall_x, wall_y)
wall_vector = self.obstacle_dim[it_obstacles] - wall_pose[:2]
rotation_angle = np.arctan2(wall_vector[1], wall_vector[0])
self.obstacle_trans[it_obstacles].set_rotation(rotation_angle)
if True:
rays = np.linspace(-np.pi, np.pi, self.num_samples_laser)
for it_laser in range(self.num_samples_laser):
laser_reading_it = self.laser_obs[it_laser]
if laser_reading_it > self.max_measurement_laser:
laser_reading_it = self.max_measurement_laser
laser_intersect = self.state[:2] + laser_reading_it *\
np.array([np.cos(self.state[2] + rays[it_laser]),
np.sin(self.state[2] + rays[it_laser])])
laser_x = laser_intersect[0] * scale_width + zero_width
laser_y = laser_intersect[1] * scale_height + zero_height
self.laser_readings_array[it_laser].set_translation(
laser_x, laser_y)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human', close=False):
"""
Graphic UI by openAI gym
"""
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None
return
zero = (0, 0)
u_size = self.u_size
m = 2 # gaps between two cells
# 如果还没有设定屏幕对象，则初始化整个屏幕具备的元素。
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(self.width, self.height)
# 在Viewer里绘制一个几何图像的步骤如下：
# the following steps just tells how to render an shape in the environment.
# 1. 建立该对象需要的数据本身
# 2. 使用rendering提供的方法返回一个geom对象
# 3. 对geom对象进行一些对象颜色、线宽、线型、变换属性的设置（有些对象提供一些个
# 性化的方法来设置属性，具体请参考继承自这些Geom的对象），这其中有一个重要的
# 属性就是变换属性，
# 该属性负责对对象在屏幕中的位置、渲染、缩放进行渲染。如果某对象
# 在呈现时可能发生上述变化，则应建立关于该对象的变换属性。该属性是一个
# Transform对象，而一个Transform对象，包括translate、rotate和scale
# 三个属性，每个属性都由以np.array对象描述的矩阵决定。
# 4. 将新建立的geom对象添加至viewer的绘制对象列表里，如果在屏幕上只出现一次，
# 将其加入到add_onegeom(）列表中，如果需要多次渲染，则将其加入add_geom()
# 5. 在渲染整个viewer之前，对有需要的geom的参数进行修改，修改主要基于该对象
# 的Transform对象
# 6. 调用Viewer的render()方法进行绘制
''' 绘制水平竖直格子线，由于设置了格子之间的间隙，可不用此段代码
for i in range(self.n_width+1):
line = rendering.Line(start = (i*u_size, 0),
end =(i*u_size, u_size*self.n_height))
line.set_color(0.5,0,0)
self.viewer.add_geom(line)
for i in range(self.n_height):
line = rendering.Line(start = (0, i*u_size),
end = (u_size*self.n_width, i*u_size))
line.set_color(0,0,1)
self.viewer.add_geom(line)
'''
# 绘制格子, draw cells
for x in range(self.n_width):
for y in range(self.n_height):
v = [(x * u_size + m, y * u_size + m),
((x + 1) * u_size - m, y * u_size + m),
((x + 1) * u_size - m, (y + 1) * u_size - m),
(x * u_size + m, (y + 1) * u_size - m)]
rect = rendering.FilledPolygon(v)
r = self.grids.get_reward(x, y) / 10
if r < 0:
rect.set_color(0.9 - r, 0.9 + r, 0.9 + r)
elif r > 0:
rect.set_color(0.3, 0.5 + r, 0.3)
else:
rect.set_color(0.9, 0.9, 0.9)
self.viewer.add_geom(rect)
# 绘制边框, draw frameworks
v_outline = [(x * u_size + m, y * u_size + m),
((x + 1) * u_size - m, y * u_size + m),
((x + 1) * u_size - m, (y + 1) * u_size - m),
(x * u_size + m, (y + 1) * u_size - m)]
outline = rendering.make_polygon(v_outline, False)
outline.set_linewidth(3)
# the goal
if self._is_end_state(x, y):
# give end state cell a red .
g = [(x * 40 + 12, y * 40 + 12),
((x + 1) * 40 - 12, y * 40 + 12),
((x + 1) * 40 - 12, (y + 1) * 40 - 12),
(x * 40 + 12, (y + 1) * 40 - 12)]
goal_rect = rendering.FilledPolygon(g)
goal_rect.set_color(1, 0, 0)
outline.set_color(1, 0, 0)
self.viewer.add_geom(goal_rect)
self.viewer.add_geom(outline)
# agent start green colour
for start in self.starts:
if start[0] == x and start[1] == y:
outline.set_color(0.0, 1.0, 0.0)
self.viewer.add_geom(outline)
# obstacle cells are with gray color
if self.grids.get_type(x, y) == 0:
rect.set_color(0.3, 0.3, 0.3)
else:
pass
# draw agent
self.agent = rendering.make_circle(u_size / 4, 30, True)
self.agent.set_color(0.0, 1.0, 0.0)
self.viewer.add_geom(self.agent)
self.agent_trans = rendering.Transform()
self.agent.add_attr(self.agent_trans)
# update position of an agent
x, y = self.agent_states
self.agent_trans.set_translation(
(x + 0.5) * u_size, (y + 0.5) * u_size)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def __init__(self):
self.viewer = rendering.Viewer(600, 400) # 600x400 是画板的长和框
def _render(self, mode='human', close=False): #未完全看懂
if close: #未懂close的作用
if self.viewer is not None:
self.viewer.close()
self.viewer = None
return
zero = (0, 0)
u_size = self.u_size
m = 2 # 格子之间的间隙尺寸
# 如果还没有设定屏幕对象，则初始化整个屏幕具备的元素。
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(self.width, self.height)
# 在Viewer里绘制一个几何图像的步骤如下：
# 1. 建立该对象需要的数据本身
# 2. 使用rendering提供的方法返回一个geom对象
# 3. 对geom对象进行一些对象颜色、线宽、线型、变换属性的设置（有些对象提供一些个
# 性化的方法来设置属性，具体请参考继承自这些Geom的对象），这其中有一个重要的
# 属性就是变换属性，
# 该属性负责对对象在屏幕中的位置、渲染、缩放进行渲染。如果某对象
# 在呈现时可能发生上述变化，则应建立关于该对象的变换属性。该属性是一个
# Transform对象，而一个Transform对象，包括translate、rotate和scale
# 三个属性，每个属性都由以np.array对象描述的矩阵决定。
# 4. 将新建立的geom对象添加至viewer的绘制对象列表里，如果在屏幕上只出现一次，
# 将其加入到add_onegeom(）列表中，如果需要多次渲染，则将其加入add_geom()
# 5. 在渲染整个viewer之前，对有需要的geom的参数进行修改，修改主要基于该对象
# 的Transform对象
# 6. 调用Viewer的render()方法进行绘制
'''#绘制水平竖直格子线，由于设置了格子之间的间隙，可不用此段代码
for i in range(self.n_width+1):
line = rendering.Line(start = (i*u_size, 0),
end =(i*u_size, u_size*self.n_height))
line.set_color(1,0,0)
self.viewer.add_geom(line)
for i in range(self.n_height):
line = rendering.Line(start = (0, i*u_size),
end = (u_size*self.n_width, i*u_size))
line.set_color(0,0,1)
self.viewer.add_geom(line)
'''
# 绘制格子
for x in range(self.n_width):
for y in range(self.n_height):
v = [(x * u_size + m, y * u_size + m),
((x + 1) * u_size - m, y * u_size + m),
((x + 1) * u_size - m, (y + 1) * u_size - m),
(x * u_size + m, (y + 1) * u_size - m)]
rect = rendering.FilledPolygon(v)
r = self.grids.get_reward(x, y) / 10
if r < 0:
rect.set_color(0.9 - r, 0.9 + r, 0.9 + r)
elif r > 0:
rect.set_color(0.3, 0.5 + r, 0.3)
else:
rect.set_color(0.9, 0.9, 0.9)
self.viewer.add_geom(rect)
# 绘制边框
v_outline = [(x * u_size + m, y * u_size + m),
((x + 1) * u_size - m, y * u_size + m),
((x + 1) * u_size - m, (y + 1) * u_size - m),
(x * u_size + m, (y + 1) * u_size - m)]
outline = rendering.make_polygon(v_outline, False)
outline.set_linewidth(3)
if self._is_end_state(x, y):
# 给终点方格添加金黄色边框
outline.set_color(0.9, 0.9, 0)
self.viewer.add_geom(outline)
if self.start[0] == x and self.start[1] == y:
outline.set_color(0.5, 0.5, 0.8)
self.viewer.add_geom(outline)
if self.grids.get_type(x, y) == 1: # 障碍格子用深灰色表示
rect.set_color(0.3, 0.3, 0.3)
else:
pass
# 绘制个体
self.agent = rendering.make_circle(u_size / 4, 30, True)
self.agent.set_color(1.0, 1.0, 0.0)
self.viewer.add_geom(self.agent)
self.agent_trans = rendering.Transform()
self.agent.add_attr(self.agent_trans)
# 更新个体位置
x, y = self._state_to_xy(self.state)
self.agent_trans.set_translation((x + 0.5) * u_size,
(y + 0.5) * u_size)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human'):
scale = self.SCALE
carty = 100 # TOP OF CART
polewidth = 10.0
cartwidth = 50.0
cartheight = 30.0
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(self.SCREEN_W, self.SCREEN_H)
body = rendering.FilledPolygon(self.LanderPoly)
body.set_color(0.5,0.4,0.9)
main_engine_flare = rendering.FilledPolygon(self.MainEnginePoly)
main_engine_flare.set_color(0.9, 0.9, 0.1)
left_engine_flare = rendering.FilledPolygon(self.LeftEnginePoly)
left_engine_flare.set_color(0.9, 0.9, 0.1)
right_engine_flare = rendering.FilledPolygon(self.RightEnginePoly)
right_engine_flare.set_color(0.9, 0.9, 0.1)
self.Body = body
self.MainEngine = main_engine_flare
self.RightEngine = right_engine_flare
self.LeftEngine = left_engine_flare
sky = rendering.FilledPolygon([
(0.0, 0.0),
(self.SCREEN_W, 0.0),
(self.SCREEN_W, self.SCREEN_H),
(0.0, self.SCREEN_H)
])
sky.set_color(0,0,0)
self.viewer.add_geom(sky)
base = rendering.FilledPolygon([
(0.0, 0.0),
(self.SCREEN_W, 0.0),
(self.SCREEN_W, self.ZERO_Y),
(0.0, self.ZERO_Y)
])
base.set_color(0.9, 0.9, 0.9)
self.viewer.add_geom(base)
self.LanderTransform = rendering.Transform()
for g in (self.Body, self.MainEngine, self.RightEngine, self.LeftEngine):
g.add_attr(self.LanderTransform)
#if self.crash:
# self.Body.set_color(1.0, 0.4, 0.1)
self.viewer.add_geom(body)
state = self.state
if state is None: return None
x, y, _, _, phi, _ = state
x0, y0 = self.SCREEN_W/2 + x*self.SCALE, self.ZERO_Y + y*self.SCALE
self.LanderTransform.set_translation(x0, y0)
self.LanderTransform.set_rotation(phi)
if self.action == 1:
self.viewer.add_onetime(self.MainEngine)
elif self.action == 2:
self.viewer.add_onetime(self.LeftEngine)
elif self.action == 3:
self.viewer.add_onetime(self.RightEngine)
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
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
self.viewer.set_bounds(0, VIEWPORT_W / SCALE, 0,
VIEWPORT_H / SCALE)
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))
obj.color2 = (max(0.2, 0.2 + obj.ttl), max(0.2, 0.5 * obj.ttl),
max(0.2, 0.5 * obj.ttl))
self._clean_particles(False)
for p in self.sky_polys:
self.viewer.draw_polygon(p, color=(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 = 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))
clock_prog = self.curr_step / MAX_NUM_STEPS
self.viewer.draw_polyline(
[(0, 0.05 * VIEWPORT_H / SCALE),
(clock_prog * VIEWPORT_W / SCALE, 0.05 * VIEWPORT_H / SCALE)],
color=(255, 0, 0),
linewidth=5)
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 = 480
screen_height = 520
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(screen_width, screen_height)
#创建网格世界
# for
self.line1 = rendering.Line((40, 20), (40, 500))
self.line2 = rendering.Line((80, 20), (80, 500))
self.line3 = rendering.Line((120, 20), (120, 500))
self.line4 = rendering.Line((160, 20), (160, 500))
self.line5 = rendering.Line((200, 20), (200, 500))
self.line6 = rendering.Line((240, 20), (240, 500))
self.line7 = rendering.Line((280, 20), (280, 500))
self.line8 = rendering.Line((320, 20), (320, 500))
self.line9 = rendering.Line((360, 20), (360, 500))
self.line10 = rendering.Line((400, 20), (400, 500))
self.line11 = rendering.Line((440, 20), (440, 500))
self.line12 = rendering.Line((40, 20), (440, 20))
self.line13 = rendering.Line((40, 60), (440, 60))
self.line14 = rendering.Line((40, 100), (440, 100))
self.line15 = rendering.Line((40, 140), (440, 140))
self.line16 = rendering.Line((40, 180), (440, 180))
self.line17 = rendering.Line((40, 220), (440, 220))
self.line18 = rendering.Line((40, 260), (440, 260))
self.line19 = rendering.Line((40, 300), (440, 300))
self.line20 = rendering.Line((40, 340), (440, 340))
self.line21 = rendering.Line((40, 380), (440, 380))
self.line22 = rendering.Line((40, 420), (440, 420))
self.line23 = rendering.Line((40, 460), (440, 460))
self.line24 = rendering.Line((40, 500), (440, 500))
self.robot = rendering.make_circle(15)
self.robotrans = rendering.Transform()
self.robot.add_attr(self.robotrans)
self.robot.set_color(0.8, 0.6, 0.4)
self.line1.set_color(0, 0, 0)
self.line2.set_color(0, 0, 0)
self.line3.set_color(0, 0, 0)
self.line4.set_color(0, 0, 0)
self.line5.set_color(0, 0, 0)
self.line6.set_color(0, 0, 0)
self.line7.set_color(0, 0, 0)
self.line8.set_color(0, 0, 0)
self.line9.set_color(0, 0, 0)
self.line10.set_color(0, 0, 0)
self.line11.set_color(0, 0, 0)
self.line12.set_color(0, 0, 0)
self.line13.set_color(0, 0, 0)
self.line14.set_color(0, 0, 0)
self.line15.set_color(0, 0, 0)
self.line16.set_color(0, 0, 0)
self.line17.set_color(0, 0, 0)
self.line18.set_color(0, 0, 0)
self.line19.set_color(0, 0, 0)
self.line20.set_color(0, 0, 0)
self.line21.set_color(0, 0, 0)
self.line22.set_color(0, 0, 0)
self.line23.set_color(0, 0, 0)
self.line24.set_color(0, 0, 0)
self.viewer.add_geom(self.line1)
self.viewer.add_geom(self.line2)
self.viewer.add_geom(self.line3)
self.viewer.add_geom(self.line4)
self.viewer.add_geom(self.line5)
self.viewer.add_geom(self.line6)
self.viewer.add_geom(self.line7)
self.viewer.add_geom(self.line8)
self.viewer.add_geom(self.line9)
self.viewer.add_geom(self.line10)
self.viewer.add_geom(self.line11)
self.viewer.add_geom(self.line12)
self.viewer.add_geom(self.line13)
self.viewer.add_geom(self.line14)
self.viewer.add_geom(self.line15)
self.viewer.add_geom(self.line16)
self.viewer.add_geom(self.line17)
self.viewer.add_geom(self.line18)
self.viewer.add_geom(self.line19)
self.viewer.add_geom(self.line20)
self.viewer.add_geom(self.line21)
self.viewer.add_geom(self.line22)
self.viewer.add_geom(self.line23)
self.viewer.add_geom(self.line24)
self.viewer.add_geom(self.robot)
if self.state is None: return None
self.robotrans.set_translation(self.x[self.state - 1],
self.y[self.state - 1])
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human'):
if self.viewer is None:
# 注意绘制坐标系原点在左下角
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(self.screen_width,
self.screen_height)
lines = []
for i in range(4):
lines.append(
rendering.Line((self.offset_width + i * self.unit_width,
self.offset_height),
(self.offset_width + i * self.unit_width,
self.screen_height - self.offset_height)))
lines[-1].set_color(0, 0, 0)
lines.append(
rendering.Line(
(self.offset_width,
self.offset_height + i * self.unit_height),
(self.screen_width - self.offset_width,
self.offset_height + i * self.unit_height)))
lines[-1].set_color(0, 0, 0)
traps = []
traps.append(rendering.make_circle(50))
traps[-1].add_attr(
rendering.Transform(
translation=(1.5 * self.unit_width + self.offset_width,
2.5 * self.unit_height + self.offset_height)))
traps[-1].set_color(1, 0, 0)
traps.append(rendering.make_circle(50))
traps[-1].add_attr(
rendering.Transform(
translation=(2.5 * self.unit_width + self.offset_width,
1.5 * self.unit_height + self.offset_height)))
traps[-1].set_color(1, 0, 0)
gold = rendering.make_circle(50)
gold.add_attr(
rendering.Transform(
translation=(2.5 * self.unit_width + self.offset_width,
2.5 * self.unit_height + self.offset_height)))
gold.set_color(1, 1, 0)
for v in lines:
self.viewer.add_geom(v)
for v in traps:
self.viewer.add_geom(v)
self.viewer.add_geom(gold)
agent_view = rendering.make_circle(50)
ix, iy = self._get_loc()
self.agent_view_trans = rendering.Transform()
agent_view.add_attr(self.agent_view_trans)
agent_view.set_color(0, 1, 0)
self.viewer.add_geom(agent_view)
print("step = %d, current state = %d" % (self.times, self.s))
ix, iy = self._get_loc()
self.agent_view_trans.set_translation(
newx=(0.5 + ix) * self.unit_width + self.offset_width,
newy=(0.5 + iy) * self.unit_height + self.offset_height)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human'):
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(WINDOW_W, WINDOW_H)
self.score_label = pyglet.text.Label('0000', font_size=36,
x=20, y=WINDOW_H*2.5/40.00, anchor_x='left', anchor_y='center',
color=(255,255,255,255))
self.transform = rendering.Transform()
if "t" not in self.__dict__: return # reset() not called yet
zoom = ZOOM*SCALE
zoom_state = ZOOM*SCALE*STATE_W/WINDOW_W
zoom_video = ZOOM*SCALE*VIDEO_W/WINDOW_W
scroll_x = self.car.hull.position[0]
scroll_y = self.car.hull.position[1]
angle = -self.car.hull.angle
vel = self.car.hull.linearVelocity
if np.linalg.norm(vel) > 0.5:
angle = math.atan2(vel[0], vel[1])
self.transform.set_scale(zoom, zoom)
self.transform.set_translation(
WINDOW_W/2 - (scroll_x*zoom*math.cos(angle) - scroll_y*zoom*math.sin(angle)),
WINDOW_H/4 - (scroll_x*zoom*math.sin(angle) + scroll_y*zoom*math.cos(angle)) )
self.transform.set_rotation(angle)
self.car.draw(self.viewer, mode!="state_pixels")
arr = None
win = self.viewer.window
if mode != 'state_pixels':
win.switch_to()
win.dispatch_events()
#KOE: Added if to try to fix reendering problem
#if "dispatch_events_called" not in self.__dict__ and mode == 'state_pixels':
# win.dispatch_events()
# self.dispatch_events_called = True
if mode=="rgb_array" or mode=="state_pixels":
win.clear()
t = self.transform
if mode=='rgb_array':
VP_W = VIDEO_W
VP_H = VIDEO_H
else:
VP_W = STATE_W
VP_H = STATE_H
gl.glViewport(0, 0, VP_W, VP_H)
t.enable()
self.render_road()
for geom in self.viewer.onetime_geoms:
geom.render()
t.disable()
self.render_indicators(WINDOW_W, WINDOW_H) # TODO: find why 2x needed, wtf
image_data = pyglet.image.get_buffer_manager().get_color_buffer().get_image_data()
arr = np.fromstring(image_data.data, dtype=np.uint8, sep='')
arr = arr.reshape(VP_H, VP_W, 4)
arr = arr[::-1, :, 0:3]
if mode=="rgb_array" and not self.human_render: # agent can call or not call env.render() itself when recording video.
win.flip()
if mode=='human':
self.human_render = True
win.clear()
t = self.transform
gl.glViewport(0, 0, WINDOW_W, WINDOW_H)
t.enable()
self.render_road()
for geom in self.viewer.onetime_geoms:
geom.render()
t.disable()
self.render_indicators(WINDOW_W, WINDOW_H)
win.flip()
self.viewer.onetime_geoms = []
return arr
def render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None
return
scale = self.width / self.l_unit # 计算两者映射关系
rad = self.radius * scale # 随后都是用世界尺寸来描述
t_rad = self.target_radius * scale # target radius
action = self.action
if action is None:
length = 0.00
else:
length = np.sqrt(np.sum(np.dot(action, action)))
# print(action, length)
# 如果还没有设定屏幕对象，则初始化整个屏幕具备的元素。
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(self.width, self.height)
# 在Viewer里绘制一个几何图像的步骤如下：
# 1. 建立该对象需要的数据本身
# 2. 使用rendering提供的方法返回一个geom对象
# 3. 对geom对象进行一些对象颜色、线宽、线型、变换属性的设置（有些对象提供一些个
# 性化的方法
# 来设置属性，具体请参考继承自这些Geom的对象），这其中有一个重要的属性就是
# 变换属性，该属性负责对对象在屏幕中的位置、渲染、缩放进行渲染。如果某对象
# 在呈现时可能发生上述变化，则应建立关于该对象的变换属性。该属性是一个
# Transform对象，而一个Transform对象，包括translate、rotate和scale
# 三个属性，每个属性都由以np.array对象描述的矩阵决定。
# 4. 将新建立的geom对象添加至viewer的绘制对象列表里，如果在屏幕上只出现一次，
# 将其加入到add_onegeom(）列表中，如果需要多次渲染，则将其加入add_geom()
# 5. 在渲染整个viewer之前，对有需要的geom的参数进行修改，修改主要基于该对象
# 的Transform对象
# 6. 调用Viewer的render()方法进行绘制
target = rendering.make_circle(t_rad, 30, True)
target.set_color(0.1, 0.9, 0.1)
self.viewer.add_geom(target)
target_circle = rendering.make_circle(t_rad, 30, False)
target_circle.set_color(0, 0, 0)
self.viewer.add_geom(target_circle)
self.target_trans = rendering.Transform()
target.add_attr(self.target_trans)
target_circle.add_attr(self.target_trans)
self.agent = rendering.make_circle(rad, 30, True)
self.agent.set_color(0, 1, 0)
self.viewer.add_geom(self.agent)
self.agent_trans = rendering.Transform()
self.agent.add_attr(self.agent_trans)
agent_circle = rendering.make_circle(rad, 30, False)
agent_circle.set_color(0, 0, 0)
agent_circle.add_attr(self.agent_trans)
self.viewer.add_geom(agent_circle)
start_p = (0, 0)
end_p = (0.7 * rad * length, 0)
self.line = rendering.Line(start_p, end_p)
self.line.linewidth = rad / 10
self.line_trans = rendering.Transform()
self.line.add_attr(self.line_trans)
self.viewer.add_geom(self.line)
self.arrow = rendering.FilledPolygon([
(0.7 * rad * length, 0.15 * rad), (rad * length, 0),
(0.7 * rad * length, -0.15 * rad)
])
self.arrow.set_color(0, 0, 0)
self.arrow.add_attr(self.line_trans)
self.viewer.add_geom(self.arrow)
# 如果已经为屏幕准备好了要绘制的对象
# 本例中唯一要做的就是改变小车的位置和旋转
ppx, ppy, _, _, tx, ty = self.state
self.target_trans.set_translation(tx * scale, ty * scale)
self.agent_trans.set_translation(ppx * scale, ppy * scale)
# 按距离给Agent着色
vv, ms = self.reward + 0.3, 1
r, g, b, = 0, 1, 0
if vv >= 0:
r, g, b = 1 - ms * vv, 1, 1 - ms * vv
else:
r, g, b = 1, 1 + ms * vv, 1 + ms * vv
self.agent.set_color(r, g, b)
if length == 0:
self.line.set_color(r, g, b)
self.arrow.set_color(r, g, b) # 背景色
else:
if action[1] >= 0:
rotate = math.acos(action[0] / length) # action[0]水平方向
else: # 垂直方向
rotate = 2 * math.pi - math.acos(action[0] / length)
self.line_trans.set_translation(ppx * scale, ppy * scale)
self.line_trans.set_rotation(rotate)
self.line.set_color(0, 0, 0)
self.arrow.set_color(0, 0, 0)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human', close=False):
from gym.envs.classic_control import rendering
# uniform width/height for window for now
screen_width, screen_height = 600, 600
scale_x = screen_width / (4 * (self.x_upper - self.x_lower))
scale_y = screen_height / (4 * (self.y_upper - self.y_lower))
scale = 3 * scale_x
if scale_x != scale_y:
scale = np.min((scale_x, scale_y))
print('Scales not matching')
if self.viewer is None:
# Define viewer
self.viewer = rendering.Viewer(screen_width, screen_height)
# Draw base
base = rendering.make_circle(scale * self.rs)
base.set_color(0., 0., 0.)
self.basetrans = rendering.Transform()
base.add_attr(self.basetrans)
self.viewer.add_geom(base)
# Draw link 1
xs = np.linspace(0, scale * self.Ls, 100)
ys = np.zeros(xs.shape)
xys = list(zip(xs, ys))
l1 = rendering.make_polyline(xys) # draw a straight line
l1.set_color(1., 0., 0.)
l1.set_linewidth(3)
self.l1trans = rendering.Transform(
) # create transform object for that line
l1.add_attr(self.l1trans)
self.viewer.add_geom(l1)
# Draw link 2
xs = np.linspace(0, scale * self.Lo, 100)
ys = np.zeros(xs.shape)
xys = list(zip(xs, ys))
l2 = rendering.make_polyline(xys)
l2.set_color(0., 1., 0.)
l2.set_linewidth(3)
self.l2trans = rendering.Transform()
l2.add_attr(self.l2trans)
self.viewer.add_geom(l2)
# Draw obj
obj = rendering.make_circle(scale * self.ro)
obj.set_color(.5, .5, .5)
self.objtrans = rendering.Transform()
obj.add_attr(self.objtrans)
self.viewer.add_geom(obj)
# Draw panel 1
xs = np.linspace(0, scale * self.panel1_len, 100)
ys = np.zeros(xs.shape)
xys = list(zip(xs, ys))
p1 = rendering.make_polyline(xys)
p1.set_color(0., 0., 1.)
p1.set_linewidth(4)
self.p1trans = rendering.Transform()
p1.add_attr(self.p1trans)
self.viewer.add_geom(p1)
# Draw panel 2
xs = np.linspace(0, scale * self.panel2_len, 100)
ys = np.zeros(xs.shape)
xys = list(zip(xs, ys))
p2 = rendering.make_polyline(xys)
p2.set_color(0., 0., 1.)
p2.set_linewidth(4)
self.p2trans = rendering.Transform()
p2.add_attr(self.p2trans)
self.viewer.add_geom(p2)
# Calculate poses for geometries
xs, ys, ths, vxs, vys, vths, xo, yo, tho, vxo, vyo, vtho = self.state
# velocity direction
ths_vel = np.arctan2(vys, vxs)
tho_vel = np.arctan2(vyo, vxo)
# NOTE: x_conn_s&y_conn_s definitions are NOT same as defined above
x_conn_s = xs + np.cos(ths_vel) * self.rs
y_conn_s = ys + np.sin(ths_vel) * self.rs
x_conn_o = xo + np.cos(tho_vel) * self.ro
y_conn_o = yo + np.sin(tho_vel) * self.ro
xp1 = xs - np.cos(ths + self.panel1_angle) * (self.rs +
self.panel1_len)
yp1 = ys - np.sin(ths + self.panel1_angle) * (self.rs +
self.panel1_len)
xp2 = xs - np.cos(ths + self.panel2_angle) * (self.rs +
self.panel2_len)
yp2 = ys - np.sin(ths + self.panel2_angle) * (self.rs +
self.panel2_len)
# Update poses for geometries
self.basetrans.set_translation(screen_width / 2 + scale * xs,
screen_height / 2 + scale * ys)
self.basetrans.set_rotation(ths)
self.l1trans.set_translation(screen_width / 2 + scale * x_conn_s,
screen_height / 2 + scale * y_conn_s)
# pointing along spacecraft velocity
self.l1trans.set_rotation(ths_vel)
self.l2trans.set_translation(screen_width / 2 + scale * x_conn_o,
screen_height / 2 + scale * y_conn_o)
self.l2trans.set_rotation(tho_vel)
self.objtrans.set_translation(screen_width / 2 + scale * xo,
screen_height / 2 + scale * yo)
self.objtrans.set_rotation(tho)
self.p1trans.set_translation(screen_width / 2 + scale * xp1,
screen_height / 2 + scale * yp1)
self.p1trans.set_rotation(ths + self.panel1_angle)
self.p2trans.set_translation(screen_width / 2 + scale * xp2,
screen_height / 2 + scale * yp2)
self.p2trans.set_rotation(ths + self.panel2_angle)
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 = 600 # before was 400
world_width = 5 # max visible position of cart
scale = screen_width / world_width
carty = screen_height / 2 # TOP OF CART
polewidth = 6.0
polelen = scale * self.l # 0.6 or self.l
cartwidth = 40.0
cartheight = 20.0
if self.viewer is None:
from 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
cart = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
self.carttrans = rendering.Transform()
cart.add_attr(self.carttrans)
cart.set_color(1, 0, 0)
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(0, 0, 1)
self.poletrans = rendering.Transform(translation=(0, 0))
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(0.1, 1, 1)
self.viewer.add_geom(self.axle)
# Make another circle on the top of the pole
self.pole_bob = rendering.make_circle(polewidth / 2)
self.pole_bob_trans = rendering.Transform()
self.pole_bob.add_attr(self.pole_bob_trans)
self.pole_bob.add_attr(self.poletrans)
self.pole_bob.add_attr(self.carttrans)
self.pole_bob.set_color(0, 0, 0)
self.viewer.add_geom(self.pole_bob)
self.wheel_l = rendering.make_circle(cartheight / 4)
self.wheel_r = rendering.make_circle(cartheight / 4)
self.wheeltrans_l = rendering.Transform(
translation=(-cartwidth / 2, -cartheight / 2))
self.wheeltrans_r = rendering.Transform(translation=(cartwidth / 2,
-cartheight /
2))
self.wheel_l.add_attr(self.wheeltrans_l)
self.wheel_l.add_attr(self.carttrans)
self.wheel_r.add_attr(self.wheeltrans_r)
self.wheel_r.add_attr(self.carttrans)
self.wheel_l.set_color(0, 0, 0) # Black, (B, G, R)
self.wheel_r.set_color(0, 0, 0) # Black, (B, G, R)
self.viewer.add_geom(self.wheel_l)
self.viewer.add_geom(self.wheel_r)
self.track = rendering.Line(
(screen_width / 2 - self.x_threshold * scale,
carty - cartheight / 2 - cartheight / 4),
(screen_width / 2 + self.x_threshold * scale,
carty - cartheight / 2 - cartheight / 4))
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])
self.pole_bob_trans.set_translation(-self.l * np.sin(x[2]),
self.l * np.cos(x[2]))
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human'):
from gym.envs.classic_control import rendering
s = self.state
w_size = 8
if self.viewer is None:
self.viewer = rendering.Viewer(500, 250)
self.viewer.set_bounds(-w_size, w_size, -w_size / 2, w_size / 2)
if s is None: return None
box_l = 0.5
# define center points and angles
arm_xy = np.array([4.0, 0.0])
pen_xy = np.array([-4.0, 0.0])
thetas = [s[0] + np.pi, s[1] + np.pi]
# define colors
rgb_dred = [0.5, 0, 0]
rgb_lred = [0.9, 0, 0]
rgb_gray = [0.5, 0.5, 0.5]
rgb_light = [0.9, 0.9, 0.9]
self.viewer.draw_line((0, -w_size), (0, w_size))
self.viewer.draw_line((arm_xy[0], -w_size),
(arm_xy[0], w_size)).set_color(*rgb_light)
self.viewer.draw_line((pen_xy[1], -w_size),
(pen_xy[1], w_size)).set_color(*rgb_light)
l, r, t, b = -0.2, 0.2, 3, 0 # link dimintions
# ARM
arm_box = self.viewer.draw_polygon([(-box_l, box_l), (box_l, box_l),
(box_l, -box_l), (-box_l, -box_l)])
arm_box.set_color(0, 0, 0)
arm_bos_tra = rendering.Transform(rotation=0,
translation=(arm_xy[0], arm_xy[1]))
arm_box.add_attr(arm_bos_tra)
arm = self.viewer.draw_polygon([(l, t), (r, t), (r, b), (l, b)])
arm_tra = rendering.Transform(rotation=thetas[0],
translation=(arm_xy[0], arm_xy[1]))
arm.add_attr(arm_tra)
arm.set_color(*rgb_gray)
arm_circ = self.viewer.draw_circle(.2)
arm_circ.add_attr(arm_tra)
arm_circ.set_color(*rgb_dred)
# PENDULUM + box_l + .2
pen_box = self.viewer.draw_polygon([(-box_l, box_l), (box_l, box_l),
(box_l, -box_l), (-box_l, -box_l)])
pen_box_tra = rendering.Transform(rotation=0,
translation=(pen_xy[0], pen_xy[1]))
pen_box.add_attr(pen_box_tra)
pen_bar = self.viewer.draw_polygon([(-box_l, -0.1), (box_l, -0.1),
(box_l, -0.2), (-box_l, -0.2)])
pen_bar.add_attr(pen_box_tra)
pen_bar.set_color(*rgb_lred)
pen = self.viewer.draw_polygon([(l, t), (r, t), (r, b), (l, b)])
pen_tra = rendering.Transform(rotation=thetas[1],
translation=(pen_xy[0],
pen_xy[1] + box_l + 0.2))
pen.add_attr(pen_tra)
pen.set_color(*rgb_dred)
pen_circ = self.viewer.draw_circle(.2)
pen_circ.add_attr(pen_tra)
pen_circ.set_color(*rgb_gray)
return self.viewer.render()
def _render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None
return
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
self.viewer.set_bounds(self.scroll,
VIEWPORT_W / SCALE + self.scroll, 0,
VIEWPORT_H / SCALE)
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),
],
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))
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)
self.lidar_render = (self.lidar_render + 1) % 100
i = self.lidar_render
if i < 2 * len(self.lidar):
l = self.lidar[i] 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)
for obj in self.drawlist:
for f in obj.fixtures:
trans = f.body.transform
if type(f.shape) is circleShape:
t = 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)
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)
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)
f = [(x, flagy2), (x, flagy2 - 10 / SCALE),
(x + 25 / SCALE, flagy2 - 5 / SCALE)]
self.viewer.draw_polygon(f, color=(0.9, 0.2, 0))
self.viewer.draw_polyline(f + [f[0]], color=(0, 0, 0), linewidth=2)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human'):
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
self.viewer.set_bounds(self.scroll, VIEWPORT_W / SCALE + self.scroll,
0, VIEWPORT_H / SCALE)
# Purple sky
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),
],
color=(0.9, 0.9, 1.0))
# Clouds
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))
# Ground fill (areas under the terrain)
for poly, color in self.terrain_poly:
# Ignore polygons off-screen
if poly[1][0] < self.scroll:
continue
if poly[0][0] > self.scroll + VIEWPORT_W / SCALE:
continue
self.viewer.draw_polygon(poly, color=color)
# Red line for lidar
self.lidar_render = (self.lidar_render + 1) % 100
i = self.lidar_render
if i < 2 * len(self.lidar):
l = self.lidar[i] 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)
# Draw walker and terrain
for obj in self.drawlist:
# Collision bodies
for f in obj.fixtures:
trans = f.body.transform
if type(f.shape) is circleShape:
t = 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)
else:
path = [trans * v for v in f.shape.vertices]
self.viewer.draw_polygon(path, color=obj.color1)
# Turn the list of vertices into a path by closing the loop
path.append(path[0])
# Draw outline of shape
self.viewer.draw_polyline(path,
color=obj.color2,
linewidth=2)
# Draw starting flag
flagy1 = TERRAIN_HEIGHT
flagy2 = flagy1 + 50 / SCALE
x = TERRAIN_STEP * 3
# Flag pole
self.viewer.draw_polyline([(x, flagy1), (x, flagy2)],
color=(0, 0, 0),
linewidth=2)
# Flag triangle
f = [(x, flagy2), (x, flagy2 - 10 / SCALE),
(x + 25 / SCALE, flagy2 - 5 / SCALE)]
self.viewer.draw_polygon(f, color=(0.9, 0.2, 0))
# Flag outline
self.viewer.draw_polyline(f + [f[0]], color=(0, 0, 0), linewidth=2)
use_rgb_array = mode == 'rgb_array'
return self.viewer.render(return_rgb_array=use_rgb_array)
