def render(self, mode='human'):
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.Viewer(250, 100)
self.viewer.set_bounds(-5.0, 5.0, -2.0, 2.0)
w = 0.6; h = 0.4
l, r, t, b = -w/2, w/2, h/2, -h/2
box = rendering.make_polygon([(l,b), (l,t), (r,t), (r,b)])
box.set_color(.8, .3, .3)
self.box_transform = rendering.Transform()
box.add_attr(self.box_transform)
self.viewer.add_geom(box)
line = rendering.make_polyline([(-5,-h/2), (5,-h/2)])
line.set_color(0, 0, 0)
self.viewer.add_geom(line)
self.box_transform.set_translation(self.state[0], 0)
if self.last_u is not None:
arrow = rendering.make_polyline([(self.state[0], 0),
(self.state[0]+self.last_u, 0)])
arrow.set_linewidth(2)
self.viewer.add_onetime(arrow)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def __init__(self, dynamic_body, ego, road):
super().__init__(occlusion=dynamic_body, ego=ego)
self.body = rendering.make_polygon(list(dynamic_body.bounding_box()))
if dynamic_body is ego:
self.body.set_color(*RGB.RED.value)
self.focal_road = road
if dynamic_body.bounding_box().intersects(
self.focal_road.bounding_box()):
self.road_angle = rendering.make_polyline(list())
else:
self.road_angle = rendering.make_polyline(
list(dynamic_body.line_anchor(self.focal_road)))
self.road_angle.set_color(*RGB.MAGENTA.value)
if dynamic_body.target_spline:
self.target_spline = rendering.make_polyline(
[tuple(point) for point in dynamic_body.target_spline])
self.target_spline.set_color(*RGB.GREEN.value)
else:
self.target_spline = None
if dynamic_body.planner_spline:
self.planner_spline = rendering.make_polyline(
[tuple(point) for point in dynamic_body.planner_spline])
self.planner_spline_markers = make_markers(
dynamic_body.planner_spline)
else:
self.planner_spline = rendering.make_polyline(list())
self.planner_spline_markers = make_markers(list())
self.planner_spline.set_color(*RGB.BLUE.value)
self.planner_spline_markers.set_color(*RGB.BLUE.value)
def __init__(self, road_map, body):
self.major_road_view = RoadView(road_map.major_road)
self.minor_road_views = [
RoadView(minor_road) for minor_road in road_map.minor_roads
] if road_map.minor_roads is not None else list()
if self.minor_road_views:
self.clear_intersections = rendering.Compound([
rendering.make_polyline([
tuple(bounding_box.front_left),
tuple(bounding_box.front_right)
]) for bounding_box in road_map.intersection_bounding_boxes
])
self.clear_intersections.set_color(*RGB.WHITE.value)
self.intersection_markings = rendering.Compound([
rendering.make_polyline([
tuple(bounding_box.rear_left),
tuple(bounding_box.rear_right)
]) for bounding_box in
road_map.inbound_intersection_bounding_boxes
])
self.intersection_markings.add_attr(
mods.FactoredLineStyle(0x0F0F, 2))
self.obstacle_view = None
if road_map.obstacle is not None:
self.obstacle_view = ObstacleView(road_map.obstacle, body)
def draw_grid(self):
grid = []
linewidth = 2
for x in range(self.dim + 1):
grid.append(
rendering.make_polyline([
(x * self.draw_scale + self.draw_start_x,
self.draw_start_y),
(x * self.draw_scale + self.draw_start_x,
self.draw_start_y + self.dim * self.draw_scale)
]))
grid[-1].set_linewidth(linewidth)
self.viewer.add_geom(grid[-1])
for y in range(self.dim + 1):
grid.append(
rendering.make_polyline([
(self.draw_start_x,
y * self.draw_scale + self.draw_start_y),
(self.draw_start_x + self.dim * self.draw_scale,
y * self.draw_scale + self.draw_start_y)
]))
grid[-1].set_linewidth(linewidth)
self.viewer.add_geom(grid[-1])
return grid
def render(self, mode='human'):
screen_width = 600
screen_height = 400
world_width = self.max_position - self.min_position
scaler = screen_width/world_width
COLORS = np.eye(3)
upscale = 150
if self.viewer is None:
self.lines = []
carwidth = 20
carheight = 75
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 = np.ones(100)*screen_height / 2
xys = list(zip((xs-self.min_position)*scaler, ys))
self.track = rendering.make_polyline(xys)
self.track.set_linewidth(4)
self.viewer.add_geom(self.track)
for i in range(3):
ys = np.ones(100) * upscale * i + upscale / 2
xys = list(zip((xs-self.min_position)*scaler, ys))
zeros = rendering.make_polyline(xys)
self.viewer.add_geom(zeros)
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, screen_height/2 - carheight/2)))
self.cartrans = rendering.Transform()
car.add_attr(self.cartrans)
self.viewer.add_geom(car)
pos = self.state[0]
self.cartrans.set_translation((pos-self.min_position)*scaler, 0)
if self.t > 1:
from gym.envs.classic_control import rendering
t = self.t % (screen_width / scaler)
for i in range(3):
prev, curr = self.prev_render_info[i], self.curr_render_info[i]
line = rendering.Line(start=(scaler*(t-1), prev+upscale*i + upscale/2), end=(scaler*t, curr+upscale*i + upscale/2))
line.set_color(*COLORS[i])
line.linewidth.stroke = 2
self.lines.append(line)
self.viewer.add_geom(line)
if t == 0:
self.clear_render()
return self.viewer.render(return_rgb_array = mode=='rgb_array')
def render(self, mode='human'):
screen_width = 600
screen_height = 600
world_width = self.max_position - self.min_position
scale = screen_width / world_width
carlength = self.L * scale
carwidth = self.W * scale
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(screen_width, screen_height)
xy_center = list(
zip((self.track.X - self.min_position) * scale,
(self.track.Y - self.min_position) * scale))
self.track_center = rendering.make_polyline(xy_center)
self.track_center.set_linewidth(1)
self.viewer.add_geom(self.track_center)
xy_o = list(
zip((self.track.X_boarder_outer - self.min_position) * scale,
(self.track.Y_boarder_outer - self.min_position) * scale))
self.track_outer = rendering.make_polyline(xy_o)
self.track_outer.set_linewidth(4)
self.viewer.add_geom(self.track_outer)
xy_i = list(
zip((self.track.X_boarder_inner - self.min_position) * scale,
(self.track.Y_boarder_inner - self.min_position) * scale))
self.track_inner = rendering.make_polyline(xy_i)
self.track_inner.set_linewidth(4)
self.viewer.add_geom(self.track_inner)
clearance = 0
l, r, t, b = -carlength / 2, carlength / 2, -carwidth / 2, carwidth / 2
car = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
car.add_attr(rendering.Transform(translation=(0, 0)))
self.cartrans = rendering.Transform()
car.add_attr(self.cartrans)
car.set_color(1, 0, 0)
self.viewer.add_geom(car)
pos = self.track.fromLocaltoGlobal(self.state)
self.cartrans.set_translation((pos[0] - self.min_position) * scale,
(pos[1] - self.min_position) * scale)
self.cartrans.set_rotation(pos[2])
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human'):
'''
This code was taken directly from openai implementation of mountain car just to test my equations in the step function. This was the *only* code taken from openai
'''
screen_width = 600
screen_height = 400
world_width = self.max_state[0] - self.min_state[0]
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_state[0], self.max_state[0], 100)
ys = self._height(xs)
xys = list(zip((xs - self.min_state[0]) * 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 = (0.5 - self.min_state[0]) * scale
flagy1 = self._height(0.5) * 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_state[0]) * scale,
self._height(pos) * scale)
self.cartrans.set_rotation(np.cos(3 * pos))
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human'):
"""
Render environment
"""
from gym.envs.classic_control import rendering
flower_width = 10
flower_height = 10
bee_width = 10
bee_height = 10
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)
# add the boundary b/t observing bees and observers
self.boundary = rendering.make_polyline()
self.viewer.draw_polygon([
(0, 0),
(VIEWPORT_W / SCALE, 0),
(VIEWPORT_W / SCALE, VIEWPORT_H / SCALE),
(0, VIEWPORT_H / SCALE),
],
color=(0.04, 0.196, 0.125))
def render(self, mode='human'):
if mode == 'ansi':
return self._observation()
elif mode == 'human':
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.Viewer(self.screen_width, self.screen_height)
#track the way, the agent has gone
self.track_way = rendering.make_polyline(np.dot(self.positions, self.scale))
self.track_way.set_linewidth(4)
self.viewer.add_geom(self.track_way)
# draw the agent
car = rendering.make_circle(5)
self.agent_trans = rendering.Transform()
car.add_attr(self.agent_trans)
car.set_color(0, 0, 255)
self.viewer.add_geom(car)
goal = rendering.make_circle(5)
goal.add_attr(rendering.Transform(translation=(self.goal_x*self.scale, self.goal_y*self.scale)))
goal.set_color(255, 0, 0)
self.viewer.add_geom(goal)
self.agent_trans.set_translation(self.agent_x * self.scale, self.agent_y * self.scale)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
elif mode == "rgb_array":
super(Nav2dEnv, self).render(mode=mode)
else:
super(Nav2dEnv, self).render(mode=mode)
def render(self, mode='human'):
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 * (2 * self.length)
cartwidth = 50.0
cartheight = 30.0
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)
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.viewer = rendering.Viewer(screen_width, screen_height)
self._pole_geom = pole
if self.state is None: return None
# 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
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'):
screen_width = 600
screen_height = 400
world_width = self.max_position - self.min_position
scale = screen_width / world_width
car_width = 40
car_height = 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 = 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 = -car_width / 2, car_width / 2, car_height, 0
car = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
car.add_attr(rendering.Transform(translation=(0, clearance)))
self.car_trans = rendering.Transform()
car.add_attr(self.car_trans)
self.viewer.add_geom(car)
front_wheel = rendering.make_circle(car_height / 2.5)
front_wheel.set_color(.5, .5, .5)
front_wheel.add_attr(
rendering.Transform(translation=(car_width / 4, clearance)))
front_wheel.add_attr(self.car_trans)
self.viewer.add_geom(front_wheel)
back_wheel = rendering.make_circle(car_height / 2.5)
back_wheel.add_attr(
rendering.Transform(translation=(-car_width / 4, clearance)))
back_wheel.add_attr(self.car_trans)
back_wheel.set_color(.5, .5, .5)
self.viewer.add_geom(back_wheel)
flag_x = (self.goal_position - self.min_position) * scale
flag_y1 = self._height(self.goal_position) * scale
flag_y2 = flag_y1 + 50
flagpole = rendering.Line((flag_x, flag_y1), (flag_x, flag_y2))
self.viewer.add_geom(flagpole)
flag = rendering.FilledPolygon([(flag_x, flag_y2),
(flag_x, flag_y2 - 10),
(flag_x + 25, flag_y2 - 5)])
flag.set_color(.8, .8, 0)
self.viewer.add_geom(flag)
pos = self.state[0]
self.car_trans.set_translation((pos - self.min_position) * scale,
self._height(pos) * scale)
self.car_trans.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
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 = 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 __init__(self, offset=0.0, marker=None):
self._trace = rendering.make_polyline([[0, 0]])
self.marker = marker
if self.marker is not None:
self._hline = rendering.Line(start=(0, 0), end=(0, 0))
else:
self._hline = None
self.offset = offset
def __init__(self, start, end, color, **kwargs):
vertice = [start, end, end + [1, 1], start + [1, 1]]
GeomContainer.__init__(self,
rendering.make_polyline(vertice),
collider_func=self.collider_func,
**kwargs)
self.set_color(*color)
self.wall_segment = Segment(start, end)
def _render_last_state(s):
ds = 0.05
square = ((0, 0), (ds, ds))
attr = rendering.Transform(translation=tuple(s))
line = rendering.make_polyline(square)
line.set_linewidth(4)
line.set_color(0, 0, 1)
line.add_attr(attr)
return line
def __init__(self, road):
self.area = rendering.make_polygon(list(road.static_bounding_box))
self.area.set_color(*RGB.WHITE.value)
coordinates = road.bounding_box()
self.edge_markings = rendering.Compound([
rendering.make_polyline(
[tuple(coordinates.rear_left),
tuple(coordinates.front_left)]),
rendering.make_polyline([
tuple(coordinates.rear_right),
tuple(coordinates.front_right)
])
])
outbound_coordinates = road.outbound.bounding_box()
self.centre_markings = rendering.make_polyline([
tuple(outbound_coordinates.rear_right),
tuple(outbound_coordinates.front_right)
])
self.centre_markings.add_attr(mods.FactoredLineStyle(0x00FF, 2))
lane_lines = list()
for lane in road.outbound.lanes[:-1] + road.inbound.lanes[:-1]:
lane_coordinates = lane.bounding_box()
lane_line = rendering.make_polyline([
tuple(lane_coordinates.rear_right),
tuple(lane_coordinates.front_right)
])
lane_lines.append(lane_line)
self.lane_markings = rendering.Compound(lane_lines)
self.lane_markings.add_attr(mods.FactoredLineStyle(0x00FF, 2))
self.pelican_crossing_view = None
self.bus_stop_views = list()
for direction in [road.outbound, road.inbound]:
if direction.bus_stop is not None:
markings = rendering.make_polygon(list(
direction.bus_stop.static_bounding_box),
filled=False)
self.bus_stop_views.append(markings)
def draw_grid(self, left):
x_min = self.get_left_bottom_grid_cell_position(0, 0, left_side=left)[0]
x_max = self.get_left_bottom_grid_cell_position(self.grid_size[0], 0, left_side=left)[0]
y_min = self.get_left_bottom_grid_cell_position(0, 0, left_side=left)[1]
y_max = self.get_left_bottom_grid_cell_position(0, self.grid_size[1], left_side=left)[1]
for i in range(self.grid_size[1] + 1):
y_val = self.get_left_bottom_grid_cell_position(0, i, left)[1]
horizontal_line = rendering.make_polyline(
[[x_min, y_val], [x_max, y_val]]
)
horizontal_line.set_linewidth(self.grid_line_width)
self.viewer.add_geom(horizontal_line)
for i in range(self.grid_size[0] + 1):
x_val = self.get_left_bottom_grid_cell_position(i, 0, left)[0]
vertical_line = rendering.make_polyline(
[[x_val, y_min], [x_val, y_max]]
)
vertical_line.set_linewidth(self.grid_line_width)
self.viewer.add_geom(vertical_line)
def render(self, mode='human'):
screen_width = 600
screen_height = 400
world_width = self.max_position - self.min_position
scale = screen_width/world_width
carwidth=5
carheight=5
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, 41)
# ys = self._height(xs)
with open('/Users/Famosi/Desktop/Bielefeld/Project-Duckietown/lane_following_car/tracks/' + 'track_' + str(1439) + '.pkl', "rb") as pickle_file:
df = pickle.load(pickle_file)
line = [tuple(r) for r in df.to_numpy().tolist()]
xs = []
ys = []
for point in line:
xs.append(float(point[:1][0]))
ys.append(float(point[1:3][0]))
xs = np.array(xs)
ys = np.array(ys)
xys = list(zip(xs*scale, ys*scale))
self.track = rendering.make_polyline(xys)
self.track.set_linewidth(1.)
self.viewer.add_geom(self.track)
clearance = -5
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)
# flagx = self.goal_position[0] * scale
# flagy1 = self.goal_position[1] * scale
# flagy2 = flagy1 + 20
# 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[0]*scale, pos[1]*scale)
self.cartrans.set_rotation(self.rotation)
return self.viewer.render(return_rgb_array = mode=='rgb_array')
def createNodeConnections(self):
connections = [(0, 1), (0, 3), (1, 2), (1, 4), (2, 3), (2, 4), (2, 5),
(2, 6), (3, 6), (4, 7), (4, 8), (5, 8), (6, 8), (6, 9),
(7, 8), (7, 10), (8, 9), (9, 10)]
for connection in connections:
connectionGeom = rendering.make_polyline([
self.p1NodeRenderInfo[connection[0]]['translate'].translation,
self.p1NodeRenderInfo[connection[1]]['translate'].translation
])
connectionGeom.set_color(0, 0, 0)
self.viewer.add_geom(connectionGeom)
def render(self, mode='human'):
screen_width = 600
screen_height = 600
world_width = 10.0
world_height = 10.0
xscale = screen_width / world_width
yscale = screen_height / world_height
robotwidth = 0.25
robotheight = 0.25
if self.viewer is None:
self.viewer = rendering.Viewer(screen_width, screen_height)
xy = [(0.0, 0.0), (0.0, 10.0), (10.0, 10.0), (10.0, 0.0)]
xys = [(x * xscale, y * yscale) for x, y in xy]
self.surface = rendering.make_polyline(xys)
self.surface.set_linewidth(4)
self.viewer.add_geom(self.surface)
l, r, t, b = -robotwidth / 2, robotwidth / 2, robotheight / 2, -robotheight / 2
self.robot = rendering.FilledPolygon([(l, b), (l, t), (r, t),
(r, b)])
self.robot.set_color(0.0, 0.0, 0.8)
self.robot.add_attr(rendering.Transform(translation=(0, 0)))
self.robot_trans = rendering.Transform()
self.robot.add_attr(self.robot_trans)
self.viewer.add_geom(self.robot)
l = self.G[0][0, 0] * xscale
b = self.G[0][1, 0] * yscale
r = self.G[1][0, 0] * xscale
t = self.G[1][1, 0] * yscale
self.goal_area = rendering.FilledPolygon([(l, b), (l, t), (r, t),
(r, b)])
self.goal_area.set_color(0.8, 0.0, 0.0)
self.viewer.add_geom(self.goal_area)
self._trajectory.append(
(self.state[0] * xscale, self.state[1] * yscale))
if len(self._trajectory) >= 2:
move = rendering.Line(start=self._trajectory[-2],
end=self._trajectory[-1])
# orange: rgb(244, 215, 66)
move.set_color(244.0 / 255.0, 215.0 / 255.0, 66.0 / 255.0)
move.add_attr(rendering.LineStyle(0xAAAA))
move.add_attr(rendering.LineWidth(4))
self.viewer.add_geom(move)
self.robot_trans.set_translation(self.state[0] * xscale,
self.state[1] * yscale)
self.robot_trans.set_rotation(np.arctan2(self.state[3], self.state[2]))
self.robot_trans.set_scale(xscale, yscale)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def make_arrow(start, end):
translation = start
rotation = arctan2(end[1] - start[1], end[0] - start[0])
l = np.linalg.norm(np.array(end) - np.array(start))
line = rendering.make_polyline(((0, 0), (l, 0)))
line.set_linewidth(2)
line.add_attr(rendering.Transform(translation, rotation))
x = l / 6 * cos(pi / 6)
y = l / 6 * sin(pi / 6)
line_u = rendering.make_polyline(((l, 0), (l - x, y)))
line_d = rendering.make_polyline(((l, 0), (l - x, -y)))
line_u.set_linewidth(2)
line_d.set_linewidth(2)
line_u.add_attr(rendering.Transform(translation, rotation))
line_d.add_attr(rendering.Transform(translation, rotation))
geom = rendering.Compound([line, line_u, line_d])
return geom
def __init__(self, pelican_crossing, ego, **kwargs):
super().__init__(**kwargs)
coordinates = pelican_crossing.bounding_box()
self.area = rendering.make_polygon(list(coordinates))
self.area.set_color(*RGB.WHITE.value)
self.markings = rendering.Compound([
rendering.make_polyline([
tuple(pelican_crossing.outbound_intersection_bounding_box.
rear_left),
tuple(pelican_crossing.outbound_intersection_bounding_box.
rear_right)
]),
rendering.make_polyline([
tuple(pelican_crossing.inbound_intersection_bounding_box.
front_left),
tuple(pelican_crossing.inbound_intersection_bounding_box.
front_right)
]),
rendering.make_polyline([
tuple(pelican_crossing.static_bounding_box.rear_left),
tuple(pelican_crossing.static_bounding_box.front_left)
]),
rendering.make_polyline([
tuple(pelican_crossing.static_bounding_box.rear_right),
tuple(pelican_crossing.static_bounding_box.front_right)
])
])
offset_rear_right = Point(
coordinates.rear_right.x +
(pelican_crossing.constants.width * 0.15),
coordinates.rear_right.y)
offset_rear_left = Point(
coordinates.rear_left.x +
(pelican_crossing.constants.width * 0.15), coordinates.rear_left.y)
offset_front_right = Point(
coordinates.front_right.x -
(pelican_crossing.constants.width * 0.15),
coordinates.front_right.y)
offset_front_left = Point(
coordinates.front_left.x -
(pelican_crossing.constants.width * 0.15),
coordinates.front_left.y)
self.inner = rendering.Compound([
rendering.make_polyline(
[tuple(offset_rear_right),
tuple(offset_rear_left)]),
rendering.make_polyline(
[tuple(offset_front_right),
tuple(offset_front_left)])
])
self.inner.add_attr(mods.FactoredLineStyle(0x0F0F, 1))
self.outbound_traffic_light_view = TrafficLightView(
pelican_crossing.outbound_traffic_light, ego)
self.inbound_traffic_light_view = TrafficLightView(
pelican_crossing.inbound_traffic_light, ego)
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
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(screen_width, screen_height)
o = rendering.make_polyline([(0, 0), (0, screen_height),
(screen_width, screen_height),
(screen_width, 0)])
o.set_color(0, 0, 0)
self.viewer.add_geom(o)
r = np.linspace(0, 1, 20)
for x in r:
o = rendering.make_circle(min(screen_height, screen_width) * x,
filled=False)
o.add_attr(
rendering.Transform(translation=(screen_width / 2,
screen_height / 2)))
o.set_color(0, 0, 0)
self.viewer.add_geom(o)
agent = rendering.make_circle(
min(screen_height, screen_width) * 0.03)
origin = rendering.make_circle(
min(screen_height, screen_width) * 0.03)
trans = rendering.Transform(translation=(0, 0))
agent.add_attr(trans)
self.trans = trans
agent.set_color(1, 0, 0)
origin.set_color(0, 0, 0)
origin.add_attr(
rendering.Transform(translation=(screen_width // 2,
screen_height // 2)))
self.viewer.add_geom(agent)
self.viewer.add_geom(origin)
# self.trans.set_translation(0, 0)
self.trans.set_translation(
(self.state[0] + 1) / 2 * screen_width,
(self.state[1] + 1) / 2 * screen_height,
)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def make_goal(goal: Goal) -> rendering.Geom: # pylint: disable=unused-argument
geom_goal = rendering.make_polygon(
[(-1.0, -1.0), (-1.0, 1.0), (1.0, 1.0), (1.0, -1.0)],
filled=True,
)
geom_goal.set_color(*GREEN)
pad = 0.8
geom_flag = rendering.make_polyline([(0.0, -pad), (0.0, pad),
(pad, pad / 2), (0.0, 0.0)])
geom_flag.set_linewidth(2)
geom_flag.add_attr(rendering.Transform(translation=(-pad / 4, 0.0)))
return Group([geom_goal, geom_flag])
def doRender(episode, numStreaks, mode='human'):
from gym.envs.classic_control import rendering
oldViewer = env.viewer
env.render(mode)
if oldViewer is None:
lineStart = -0.5
lineEnd = -1
textPosns = [-0.6, -0.9]
for binBoundsAngle in binBoundsAngles:
# Draw line
x1 = np.sin(binBoundsAngle) * lineStart
y1 = np.cos(binBoundsAngle) * lineStart
x2 = np.sin(binBoundsAngle) * lineEnd
y2 = np.cos(binBoundsAngle) * lineEnd
segLine = rendering.make_polyline([(x1,y1),(x2,y2)])
segLine.set_color(0/255, 0/255, 255/255)
env.viewer.add_geom(segLine)
for binCentreAngle in binCentreAngles:
# Create kick indicator items
kickDirnIndicators = []
for i in range(numDirections):
xT = np.sin(binCentreAngle) * textPosns[i]
yT = np.cos(binCentreAngle) * textPosns[i]
kickIndicator = rendering.make_circle(.05)
kickTransform = rendering.Transform()
kickTransform.set_translation(xT, yT)
kickIndicator.add_attr(kickTransform)
kickDirnIndicators.append(kickIndicator)
env.viewer.add_geom(kickIndicator)
kickIndicators.append(kickDirnIndicators)
for i in range(len(binCentreAngles)):
for j in range(numDirections):
qIdx = i+1
if j > 0:
qIdx = 2*(len(binCentreAngles)+2)-i-2
qRowRange = qTable[qIdx][0] - qTable[qIdx][1]
if qRowRange <= -0.01:
indHue = indHueMin
elif qRowRange >= 0.01:
indHue = indHueMax
else:
indHue = (indHueMax + indHueMin) / 2
rgbColour = matplotlib.colors.hsv_to_rgb((indHue, 1, 1))
kickIndicators[i][j].set_color(rgbColour[0], rgbColour[1], rgbColour[2])
retVal = env.render(mode)
time.sleep(.01)
return retVal
def render(self, mode="human"):
W = 600
PIXELS = 30 # 600 - (10 + 10)
if self._viewer is None:
from gym.envs.classic_control import rendering
self._viewer = rendering.Viewer(W, W)
self._viewer_centers = []
for _ in range(self._agents):
circle = rendering.make_circle(radius=PIXELS, res=30, filled=True)
transform = rendering.Transform()
circle.add_attr(transform)
self._viewer.add_geom(circle)
self._viewer_centers.append((circle, transform))
self._viewer_agents_pos = []
for _ in range(self._agents):
circle = rendering.make_circle(radius=0.5 * PIXELS, res=30, filled=True)
transform = rendering.Transform()
circle.add_attr(transform)
self._viewer.add_geom(circle)
self._viewer_agents_pos.append((circle, transform))
self._viewer_agents_vel = []
for i in range(self._agents):
self._viewer_agents_vel.append([[0, 0], [0, 0]])
line = rendering.make_polyline(self._viewer_agents_vel[-1])
line.add_attr(self._viewer_agents_pos[i][1])
self._viewer.add_geom(line)
if not hasattr(self, "_centers"):
return None
for (circle, transform), center, hit in zip(self._viewer_centers, self._centers, self._centers_hit):
circle.set_color(0, 1.0 if hit else 0.7, 0)
transform.set_translation(center[0] * PIXELS + W / 2, center[1] * PIXELS + W / 2)
for (circle, transform), pos, hit in zip(self._viewer_agents_pos, self._agents_pos, self._agents_hit):
circle.set_color(1.0 * hit, 0, 0.7 * (1 - hit))
transform.set_translation(pos[0] * PIXELS + W / 2, pos[1] * PIXELS + W / 2)
for line, vel in zip(self._viewer_agents_vel, self._agents_vel):
line[1] = vel * PIXELS
return self._viewer.render(return_rgb_array=mode == "rgb_array")
def render(self, mode='human'):
pos = [self.state[0], self.state[1]]
old_pos = self.path[-1]
self.particletrans.set_translation((pos[0]) * self.scale[0],
(pos[1]) * self.scale[1])
self.particletrans.set_rotation(0)
xs = np.array([old_pos[0], pos[0]])
ys = np.array([old_pos[1], pos[1]])
xys = list(zip(xs * self.scale[0], ys * self.scale[1]))
path = rendering.make_polyline(xys)
path.set_linewidth(2)
path.set_color(self.color[0], self.color[1], self.color[2])
self.viewer.add_geom(path)
self.score_label.text = self.name + ": %0.4fs" % self.total_time
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def create_geometry(self, viewer, PPM):
self.transforms = []
self.lines = []
from gym.envs.classic_control import rendering
for m in self.masses:
rad = m.fixtures[0].shape.radius
circle = rendering.make_circle(PPM * rad)
transform = rendering.Transform()
circle.add_attr(transform)
self.transforms.append(transform)
viewer.add_geom(circle)
for muscle, (idx_a, idx_b) in zip(self.joint_muscles, self.joint_defs):
line = rendering.make_polyline([(0, 0), (1, 0)])
line.set_linewidth(2)
line.set_color(*muscle.color)
viewer.add_geom(line)
self.lines.append(line)
def render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None
return
screen_width = 400
screen_height = 400
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(screen_width, screen_height)
#add obstacles
for obs in self.environment.obstacles:
points = list(
map(lambda p: (p[0] * screen_width, p[1] * screen_height),
obs.points))
obj = rendering.make_polyline(points + [points[0]])
self.viewer.add_geom(obj)
#add target
target_rad = self.environment.target_rad * screen_height
target = rendering.make_circle(target_rad)
target.set_color(0, 0, 1)
self.targettrans = rendering.Transform()
target.add_attr(self.targettrans)
self.targettrans.set_translation(
self.environment.target_pos[0] * screen_width,
self.environment.target_pos[1] * screen_height)
self.viewer.add_geom(target)
#add ball
ball_rad = self.environment.ball.radius * screen_height
ball = rendering.make_circle(ball_rad)
ball.set_color(1, 0, 0)
self.balltrans = rendering.Transform()
ball.add_attr(self.balltrans)
self.viewer.add_geom(ball)
#update ball location
self.balltrans.set_translation(self.state[0] * screen_width,
self.state[1] * screen_height)
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', **kwargs):
screen_width = 600
screen_height = 600
world_width = 2 * X
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(-X, X, 100) - X
ys = np.linspace(-Y, Y, 100) - Y - 5
x_scaled = X * scale
y_scaled = Y * scale
ones_x = np.ones_like(xs)
ones_y = np.ones_like(ys)
lines = [
list(zip((xs) * scale, 2 * Y * scale * ones_x)),
list(zip((xs) * scale, 0 * ones_x)),
list(zip(2 * X * scale * ones_y, (ys) * scale)),
list(zip(0 * ones_y, (ys) * scale))
]
for line in lines:
xys = line
track = rendering.make_polyline(xys)
track.set_linewidth(4)
track.set_color(0, .5, 0)
self.viewer.add_geom(track)
# clearance = 10
agent_size = 5
agent = rendering.make_circle(agent_size, filled=True)
self.agenttrans = rendering.Transform(
translation=(0, 0)) # translation = (dx,dy)ずらす
agent.add_attr(self.agenttrans)
agent.set_color(.9, .5, .5)
self.viewer.add_geom(agent)
horizontal_line = rendering.Line((0, y_scaled),
(2 * x_scaled, y_scaled))
self.viewer.add_geom(horizontal_line)
for i in range(20):
pos_x = i * scale
line_length = 3 if i % 2 == 0 else 1
flagpole = rendering.Line((pos_x, y_scaled - line_length),
(pos_x, y_scaled + line_length))
self.viewer.add_geom(flagpole)
"""
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)))#移動
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)
"""
flag_size = 7
flag = rendering.make_circle(flag_size, filled=True)
self.flagtrans = rendering.Transform(
translation=(0, 0)) # translation = (dx,dy)ずらす
flag.add_attr(self.flagtrans)
flag.set_color(.5, .9, .9)
self.viewer.add_geom(flag)
"""
self.flagtrans = rendering.Transform(
)
flagx = (self.GOAL[0]+X)*scale
print(self.GOAL)
flagy1 = (self.GOAL[1] + Y) * scale
flagy2 = flagy1 + 20
flagpole = rendering.Line((flagx, flagy1), (flagx, flagy2))
flagpole.add_attr(rendering.Transform(translation=(0, 0.1)))
flagpole.add_attr(self.flagtrans)
self.viewer.add_geom(flagpole)
flag = rendering.FilledPolygon(
[(flagx, flagy2), (flagx, flagy2-8), (flagx+20, flagy2-4)])
flag.set_color(.8, .8, 0)
flag.add_attr(self.flagtrans)
self.viewer.add_geom(flag)
"""
pos = self.state
self.flagtrans.set_translation((self.GOAL[0] + X) * scale,
(self.GOAL[1] + Y) * scale)
self.agenttrans.set_translation((pos[0] + X) * scale,
(pos[1] + Y) * scale)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')