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.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 from environments.mujoco.rand_param_envs.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)) 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 environments.mujoco.rand_param_envs.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', 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')
def _render(self, mode='human', close=False): if close: if self.viewer is not None: self.viewer.close() self.viewer = None return from environments.mujoco.rand_param_envs.gym.envs.classic_control import rendering s = self.state if self.viewer is None: self.viewer = rendering.Viewer(500, 500) self.viewer.set_bounds(-2.2, 2.2, -2.2, 2.2) if s is None: return None p1 = [ -self.LINK_LENGTH_1 * np.cos(s[0]), self.LINK_LENGTH_1 * np.sin(s[0]) ] p2 = [ p1[0] - self.LINK_LENGTH_2 * np.cos(s[0] + s[1]), p1[1] + self.LINK_LENGTH_2 * np.sin(s[0] + s[1]) ] xys = np.array([[0, 0], p1, p2])[:, ::-1] thetas = [s[0] - np.pi / 2, s[0] + s[1] - np.pi / 2] self.viewer.draw_line((-2.2, 1), (2.2, 1)) for ((x, y), th) in zip(xys, thetas): l, r, t, b = 0, 1, .1, -.1 jtransform = rendering.Transform(rotation=th, translation=(x, y)) link = self.viewer.draw_polygon([(l, b), (l, t), (r, t), (r, b)]) link.add_attr(jtransform) link.set_color(0, .8, .8) circ = self.viewer.draw_circle(.1) circ.set_color(.8, .8, 0) circ.add_attr(jtransform) 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(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_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() 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