def observation(self, observation):
"""Updates the observations by resizing the observation to shape given by :attr:`shape`.
Args:
observation: The observation to reshape
Returns:
The reshaped observations
Raises:
DependencyNotInstalled: opencv-python is not installed
"""
try:
import cv2
except ImportError:
raise DependencyNotInstalled(
"opencv is not install, run `pip install gym[other]`"
)
observation = cv2.resize(
observation, self.shape[::-1], interpolation=cv2.INTER_AREA
)
if observation.ndim == 2:
observation = np.expand_dims(observation, -1)
return observation
def _error(self):
"""docstring for _print_error"""
msg = 'Importing MujocoEnv failed. Please run: \n' + \
'\n`pip install mujoco-py` \n\n' + \
'and visit: ' + \
'https://github.com/openai/mujoco-py/'
raise DependencyNotInstalled(msg)
def render(self, mode: str = "human"):
try:
import pygame
except ImportError:
raise DependencyNotInstalled(
"pygame is not installed, run `pip install gym[box2d]`")
pygame.font.init()
assert mode in ["human", "state_pixels", "rgb_array"]
if self.screen is None and mode == "human":
pygame.init()
pygame.display.init()
self.screen = pygame.display.set_mode((WINDOW_W, WINDOW_H))
if self.clock is None:
self.clock = pygame.time.Clock()
if "t" not in self.__dict__:
return # reset() not called yet
self.surf = pygame.Surface((WINDOW_W, WINDOW_H))
# computing transformations
angle = -self.car.hull.angle
# Animating first second zoom.
zoom = 0.1 * SCALE * max(1 - self.t, 0) + ZOOM * SCALE * min(self.t, 1)
scroll_x = -(self.car.hull.position[0]) * zoom
scroll_y = -(self.car.hull.position[1]) * zoom
trans = pygame.math.Vector2((scroll_x, scroll_y)).rotate_rad(angle)
trans = (WINDOW_W / 2 + trans[0], WINDOW_H / 4 + trans[1])
self._render_road(zoom, trans, angle)
self.car.draw(self.surf, zoom, trans, angle, mode != "state_pixels")
self.surf = pygame.transform.flip(self.surf, False, True)
# showing stats
self._render_indicators(WINDOW_W, WINDOW_H)
font = pygame.font.Font(pygame.font.get_default_font(), 42)
text = font.render("%04i" % self.reward, True, (255, 255, 255),
(0, 0, 0))
text_rect = text.get_rect()
text_rect.center = (60, WINDOW_H - WINDOW_H * 2.5 / 40.0)
self.surf.blit(text, text_rect)
if mode == "human":
pygame.event.pump()
self.clock.tick(self.metadata["render_fps"])
self.screen.fill(0)
self.screen.blit(self.surf, (0, 0))
pygame.display.flip()
if mode == "rgb_array":
return self._create_image_array(self.surf, (VIDEO_W, VIDEO_H))
elif mode == "state_pixels":
return self._create_image_array(self.surf, (STATE_W, STATE_H))
else:
return self.isopen
def __init__(self, frames: list, lz4_compress: bool = False):
"""Lazyframe for a set of frames and if to apply lz4.
Args:
frames (list): The frames to convert to lazy frames
lz4_compress (bool): Use lz4 to compress the frames internally
"""
self.frame_shape = tuple(frames[0].shape)
self.shape = (len(frames), ) + self.frame_shape
self.dtype = frames[0].dtype
if lz4_compress:
try:
from lz4.block import compress
except ImportError:
raise DependencyNotInstalled(
"lz4 is not installed, run `pip install gym[other]`")
frames = [compress(frame) for frame in frames]
self._frames = frames
self.lz4_compress = lz4_compress
def __init__(
self, callback: callable, horizon_timesteps: int, plot_names: List[str]
):
"""Constructor of :class:`PlayPlot`.
The function ``callback`` that is passed to this constructor should return
a list of metrics that is of length ``len(plot_names)``.
Args:
callback: Function that computes metrics from environment transitions
horizon_timesteps: The time horizon used for the live plots
plot_names: List of plot titles
Raises:
DependencyNotInstalled: If matplotlib is not installed
"""
deprecation(
"`PlayPlot` is marked as deprecated and will be removed in the near future."
)
self.data_callback = callback
self.horizon_timesteps = horizon_timesteps
self.plot_names = plot_names
if plt is None:
raise DependencyNotInstalled(
"matplotlib is not installed, run `pip install gym[other]`"
)
num_plots = len(self.plot_names)
self.fig, self.ax = plt.subplots(num_plots)
if num_plots == 1:
self.ax = [self.ax]
for axis, name in zip(self.ax, plot_names):
axis.set_title(name)
self.t = 0
self.cur_plot = [None for _ in range(num_plots)]
self.data = [deque(maxlen=horizon_timesteps) for _ in range(num_plots)]
def render(self, mode="human"):
try:
import pygame
from pygame import gfxdraw
except ImportError:
raise DependencyNotInstalled(
"pygame is not installed, run `pip install gym[classic_control]`"
)
if self.screen is None:
pygame.init()
pygame.display.init()
self.screen = pygame.display.set_mode(
(self.SCREEN_DIM, self.SCREEN_DIM))
if self.clock is None:
self.clock = pygame.time.Clock()
self.surf = pygame.Surface((self.SCREEN_DIM, self.SCREEN_DIM))
self.surf.fill((255, 255, 255))
s = self.state
bound = self.LINK_LENGTH_1 + self.LINK_LENGTH_2 + 0.2 # 2.2 for default
scale = self.SCREEN_DIM / (bound * 2)
offset = self.SCREEN_DIM / 2
if s is None:
return None
p1 = [
-self.LINK_LENGTH_1 * cos(s[0]) * scale,
self.LINK_LENGTH_1 * sin(s[0]) * scale,
]
p2 = [
p1[0] - self.LINK_LENGTH_2 * cos(s[0] + s[1]) * scale,
p1[1] + self.LINK_LENGTH_2 * sin(s[0] + s[1]) * scale,
]
xys = np.array([[0, 0], p1, p2])[:, ::-1]
thetas = [s[0] - pi / 2, s[0] + s[1] - pi / 2]
link_lengths = [self.LINK_LENGTH_1 * scale, self.LINK_LENGTH_2 * scale]
pygame.draw.line(
self.surf,
start_pos=(-2.2 * scale + offset, 1 * scale + offset),
end_pos=(2.2 * scale + offset, 1 * scale + offset),
color=(0, 0, 0),
)
for ((x, y), th, llen) in zip(xys, thetas, link_lengths):
x = x + offset
y = y + offset
l, r, t, b = 0, llen, 0.1 * scale, -0.1 * scale
coords = [(l, b), (l, t), (r, t), (r, b)]
transformed_coords = []
for coord in coords:
coord = pygame.math.Vector2(coord).rotate_rad(th)
coord = (coord[0] + x, coord[1] + y)
transformed_coords.append(coord)
gfxdraw.aapolygon(self.surf, transformed_coords, (0, 204, 204))
gfxdraw.filled_polygon(self.surf, transformed_coords,
(0, 204, 204))
gfxdraw.aacircle(self.surf, int(x), int(y), int(0.1 * scale),
(204, 204, 0))
gfxdraw.filled_circle(self.surf, int(x), int(y), int(0.1 * scale),
(204, 204, 0))
self.surf = pygame.transform.flip(self.surf, False, True)
self.screen.blit(self.surf, (0, 0))
if mode == "human":
pygame.event.pump()
self.clock.tick(self.metadata["render_fps"])
pygame.display.flip()
if mode == "rgb_array":
return np.transpose(np.array(pygame.surfarray.pixels3d(
self.screen)),
axes=(1, 0, 2))
else:
return self.isopen
def _render(self, mode):
assert mode in self.metadata["render_modes"]
try:
import pygame
except ImportError:
raise DependencyNotInstalled(
"pygame is not installed, run `pip install gym[toy_text]`"
)
player_sum, dealer_card_value, usable_ace = self._get_obs()
screen_width, screen_height = 600, 500
card_img_height = screen_height // 3
card_img_width = int(card_img_height * 142 / 197)
spacing = screen_height // 20
bg_color = (7, 99, 36)
white = (255, 255, 255)
if not hasattr(self, "screen"):
pygame.init()
if mode == "human":
pygame.display.init()
self.screen = pygame.display.set_mode((screen_width, screen_height))
else:
pygame.font.init()
self.screen = pygame.Surface((screen_width, screen_height))
if not hasattr(self, "clock"):
self.clock = pygame.time.Clock()
self.screen.fill(bg_color)
def get_image(path):
cwd = os.path.dirname(__file__)
image = pygame.image.load(os.path.join(cwd, path))
return image
def get_font(path, size):
cwd = os.path.dirname(__file__)
font = pygame.font.Font(os.path.join(cwd, path), size)
return font
small_font = get_font(
os.path.join("font", "Minecraft.ttf"), screen_height // 15
)
dealer_text = small_font.render(
"Dealer: " + str(dealer_card_value), True, white
)
dealer_text_rect = self.screen.blit(dealer_text, (spacing, spacing))
suits = ["C", "D", "H", "S"]
dealer_card_suit = self.np_random.choice(suits)
if dealer_card_value == 1:
dealer_card_value_str = "A"
elif dealer_card_value == 10:
dealer_card_value_str = self.np_random.choice(["J", "Q", "K"])
else:
dealer_card_value_str = str(dealer_card_value)
def scale_card_img(card_img):
return pygame.transform.scale(card_img, (card_img_width, card_img_height))
dealer_card_img = scale_card_img(
get_image(
os.path.join("img", dealer_card_suit + dealer_card_value_str + ".png")
)
)
dealer_card_rect = self.screen.blit(
dealer_card_img,
(
screen_width // 2 - card_img_width - spacing // 2,
dealer_text_rect.bottom + spacing,
),
)
hidden_card_img = scale_card_img(get_image(os.path.join("img", "Card.png")))
self.screen.blit(
hidden_card_img,
(
screen_width // 2 + spacing // 2,
dealer_text_rect.bottom + spacing,
),
)
player_text = small_font.render("Player", True, white)
player_text_rect = self.screen.blit(
player_text, (spacing, dealer_card_rect.bottom + 1.5 * spacing)
)
large_font = get_font(os.path.join("font", "Minecraft.ttf"), screen_height // 6)
player_sum_text = large_font.render(str(player_sum), True, white)
player_sum_text_rect = self.screen.blit(
player_sum_text,
(
screen_width // 2 - player_sum_text.get_width() // 2,
player_text_rect.bottom + spacing,
),
)
if usable_ace:
usable_ace_text = small_font.render("usable ace", True, white)
self.screen.blit(
usable_ace_text,
(
screen_width // 2 - usable_ace_text.get_width() // 2,
player_sum_text_rect.bottom + spacing // 2,
),
)
if mode == "human":
pygame.event.pump()
pygame.display.update()
self.clock.tick(self.metadata["render_fps"])
else:
return np.transpose(
np.array(pygame.surfarray.pixels3d(self.screen)), axes=(1, 0, 2)
)
def _render(self, mode="human"):
assert mode in self.metadata["render_modes"]
try:
import pygame
from pygame import gfxdraw
except ImportError:
raise DependencyNotInstalled(
"pygame is not installed, run `pip install gym[classic_control]`"
)
if self.screen is None:
pygame.init()
if mode == "human":
pygame.display.init()
self.screen = pygame.display.set_mode(
(self.screen_width, self.screen_height))
else: # mode in {"rgb_array", "single_rgb_array"}
self.screen = pygame.Surface(
(self.screen_width, self.screen_height))
if self.clock is None:
self.clock = pygame.time.Clock()
world_width = self.x_threshold * 2
scale = self.screen_width / world_width
polewidth = 10.0
polelen = scale * (2 * self.length)
cartwidth = 50.0
cartheight = 30.0
if self.state is None:
return None
x = self.state
self.surf = pygame.Surface((self.screen_width, self.screen_height))
self.surf.fill((255, 255, 255))
l, r, t, b = -cartwidth / 2, cartwidth / 2, cartheight / 2, -cartheight / 2
axleoffset = cartheight / 4.0
cartx = x[0] * scale + self.screen_width / 2.0 # MIDDLE OF CART
carty = 100 # TOP OF CART
cart_coords = [(l, b), (l, t), (r, t), (r, b)]
cart_coords = [(c[0] + cartx, c[1] + carty) for c in cart_coords]
gfxdraw.aapolygon(self.surf, cart_coords, (0, 0, 0))
gfxdraw.filled_polygon(self.surf, cart_coords, (0, 0, 0))
l, r, t, b = (
-polewidth / 2,
polewidth / 2,
polelen - polewidth / 2,
-polewidth / 2,
)
pole_coords = []
for coord in [(l, b), (l, t), (r, t), (r, b)]:
coord = pygame.math.Vector2(coord).rotate_rad(-x[2])
coord = (coord[0] + cartx, coord[1] + carty + axleoffset)
pole_coords.append(coord)
gfxdraw.aapolygon(self.surf, pole_coords, (202, 152, 101))
gfxdraw.filled_polygon(self.surf, pole_coords, (202, 152, 101))
gfxdraw.aacircle(
self.surf,
int(cartx),
int(carty + axleoffset),
int(polewidth / 2),
(129, 132, 203),
)
gfxdraw.filled_circle(
self.surf,
int(cartx),
int(carty + axleoffset),
int(polewidth / 2),
(129, 132, 203),
)
gfxdraw.hline(self.surf, 0, self.screen_width, carty, (0, 0, 0))
self.surf = pygame.transform.flip(self.surf, False, True)
self.screen.blit(self.surf, (0, 0))
if mode == "human":
pygame.event.pump()
self.clock.tick(self.metadata["render_fps"])
pygame.display.flip()
elif mode in {"rgb_array", "single_rgb_array"}:
return np.transpose(np.array(pygame.surfarray.pixels3d(
self.screen)),
axes=(1, 0, 2))
def _render(self, mode: str = "human"):
assert mode in self.metadata["render_modes"]
try:
import pygame
from pygame import gfxdraw
except ImportError:
raise DependencyNotInstalled(
"pygame is not installed, run `pip install gym[box2d]`"
)
if self.screen is None and mode == "human":
pygame.init()
pygame.display.init()
self.screen = pygame.display.set_mode((VIEWPORT_W, VIEWPORT_H))
if self.clock is None:
self.clock = pygame.time.Clock()
self.surf = pygame.Surface((VIEWPORT_W + self.scroll * SCALE, VIEWPORT_H))
pygame.transform.scale(self.surf, (SCALE, SCALE))
pygame.draw.polygon(
self.surf,
color=(215, 215, 255),
points=[
(self.scroll * SCALE, 0),
(self.scroll * SCALE + VIEWPORT_W, 0),
(self.scroll * SCALE + VIEWPORT_W, VIEWPORT_H),
(self.scroll * SCALE, VIEWPORT_H),
],
)
for poly, x1, x2 in self.cloud_poly:
if x2 < self.scroll / 2:
continue
if x1 > self.scroll / 2 + VIEWPORT_W / SCALE:
continue
pygame.draw.polygon(
self.surf,
color=(255, 255, 255),
points=[
(p[0] * SCALE + self.scroll * SCALE / 2, p[1] * SCALE) for p in poly
],
)
gfxdraw.aapolygon(
self.surf,
[(p[0] * SCALE + self.scroll * SCALE / 2, p[1] * SCALE) for p in poly],
(255, 255, 255),
)
for poly, color in self.terrain_poly:
if poly[1][0] < self.scroll:
continue
if poly[0][0] > self.scroll + VIEWPORT_W / SCALE:
continue
scaled_poly = []
for coord in poly:
scaled_poly.append([coord[0] * SCALE, coord[1] * SCALE])
pygame.draw.polygon(self.surf, color=color, points=scaled_poly)
gfxdraw.aapolygon(self.surf, scaled_poly, color)
self.lidar_render = (self.lidar_render + 1) % 100
i = self.lidar_render
if i < 2 * len(self.lidar):
single_lidar = (
self.lidar[i]
if i < len(self.lidar)
else self.lidar[len(self.lidar) - i - 1]
)
if hasattr(single_lidar, "p1") and hasattr(single_lidar, "p2"):
pygame.draw.line(
self.surf,
color=(255, 0, 0),
start_pos=(single_lidar.p1[0] * SCALE, single_lidar.p1[1] * SCALE),
end_pos=(single_lidar.p2[0] * SCALE, single_lidar.p2[1] * SCALE),
width=1,
)
for obj in self.drawlist:
for f in obj.fixtures:
trans = f.body.transform
if type(f.shape) is circleShape:
pygame.draw.circle(
self.surf,
color=obj.color1,
center=trans * f.shape.pos * SCALE,
radius=f.shape.radius * SCALE,
)
pygame.draw.circle(
self.surf,
color=obj.color2,
center=trans * f.shape.pos * SCALE,
radius=f.shape.radius * SCALE,
)
else:
path = [trans * v * SCALE for v in f.shape.vertices]
if len(path) > 2:
pygame.draw.polygon(self.surf, color=obj.color1, points=path)
gfxdraw.aapolygon(self.surf, path, obj.color1)
path.append(path[0])
pygame.draw.polygon(
self.surf, color=obj.color2, points=path, width=1
)
gfxdraw.aapolygon(self.surf, path, obj.color2)
else:
pygame.draw.aaline(
self.surf,
start_pos=path[0],
end_pos=path[1],
color=obj.color1,
)
flagy1 = TERRAIN_HEIGHT * SCALE
flagy2 = flagy1 + 50
x = TERRAIN_STEP * 3 * SCALE
pygame.draw.aaline(
self.surf, color=(0, 0, 0), start_pos=(x, flagy1), end_pos=(x, flagy2)
)
f = [
(x, flagy2),
(x, flagy2 - 10),
(x + 25, flagy2 - 5),
]
pygame.draw.polygon(self.surf, color=(230, 51, 0), points=f)
pygame.draw.lines(
self.surf, color=(0, 0, 0), points=f + [f[0]], width=1, closed=False
)
self.surf = pygame.transform.flip(self.surf, False, True)
if mode == "human":
self.screen.blit(self.surf, (-self.scroll * SCALE, 0))
pygame.event.pump()
self.clock.tick(self.metadata["render_fps"])
pygame.display.flip()
elif mode in {"rgb_array", "single_rgb_array"}:
return np.transpose(
np.array(pygame.surfarray.pixels3d(self.surf)), axes=(1, 0, 2)
)
from gym.error import DependencyNotInstalled
from gym.utils import EzPickle
from gym.utils.renderer import Renderer
try:
import Box2D
from Box2D.b2 import (
circleShape,
contactListener,
edgeShape,
fixtureDef,
polygonShape,
revoluteJointDef,
)
except ImportError:
raise DependencyNotInstalled("box2D is not installed, run `pip install gym[box2d]`")
FPS = 50
SCALE = 30.0 # affects how fast-paced the game is, forces should be adjusted as well
MOTORS_TORQUE = 80
SPEED_HIP = 4
SPEED_KNEE = 6
LIDAR_RANGE = 160 / SCALE
INITIAL_RANDOM = 5
HULL_POLY = [(-30, +9), (+6, +9), (+34, +1), (+34, -8), (-30, -8)]
LEG_DOWN = -8 / SCALE
LEG_W, LEG_H = 8 / SCALE, 34 / SCALE
def __init__(
self,
env: gym.Env,
noop_max: int = 30,
frame_skip: int = 4,
screen_size: int = 84,
terminal_on_life_loss: bool = False,
grayscale_obs: bool = True,
grayscale_newaxis: bool = False,
scale_obs: bool = False,
):
"""Wrapper for Atari 2600 preprocessing.
Args:
env (Env): The environment to apply the preprocessing
noop_max (int): For No-op reset, the max number no-ops actions are taken at reset, to turn off, set to 0.
frame_skip (int): The number of frames between new observation the agents observations effecting the frequency at which the agent experiences the game.
screen_size (int): resize Atari frame
terminal_on_life_loss (bool): `if True`, then :meth:`step()` returns `done=True` whenever a
life is lost.
grayscale_obs (bool): if True, then gray scale observation is returned, otherwise, RGB observation
is returned.
grayscale_newaxis (bool): `if True and grayscale_obs=True`, then a channel axis is added to
grayscale observations to make them 3-dimensional.
scale_obs (bool): if True, then observation normalized in range [0,1) is returned. It also limits memory
optimization benefits of FrameStack Wrapper.
"""
super().__init__(env)
if cv2 is None:
raise DependencyNotInstalled(
"opencv-python package not installed, run `pip install gym[other]` to get dependencies for atari"
)
assert frame_skip > 0
assert screen_size > 0
assert noop_max >= 0
if frame_skip > 1:
if ("NoFrameskip" not in env.spec.id
and getattr(env.unwrapped, "_frameskip", None) != 1):
raise ValueError(
"Disable frame-skipping in the original env. Otherwise, more than one "
"frame-skip will happen as through this wrapper")
self.noop_max = noop_max
assert env.unwrapped.get_action_meanings()[0] == "NOOP"
self.frame_skip = frame_skip
self.screen_size = screen_size
self.terminal_on_life_loss = terminal_on_life_loss
self.grayscale_obs = grayscale_obs
self.grayscale_newaxis = grayscale_newaxis
self.scale_obs = scale_obs
# buffer of most recent two observations for max pooling
if grayscale_obs:
self.obs_buffer = [
np.empty(env.observation_space.shape[:2], dtype=np.uint8),
np.empty(env.observation_space.shape[:2], dtype=np.uint8),
]
else:
self.obs_buffer = [
np.empty(env.observation_space.shape, dtype=np.uint8),
np.empty(env.observation_space.shape, dtype=np.uint8),
]
self.ale = env.unwrapped.ale
self.lives = 0
self.game_over = False
_low, _high, _obs_dtype = ((0, 255, np.uint8) if not scale_obs else
(0, 1, np.float32))
_shape = (screen_size, screen_size, 1 if grayscale_obs else 3)
if grayscale_obs and not grayscale_newaxis:
_shape = _shape[:-1] # Remove channel axis
self.observation_space = Box(low=_low,
high=_high,
shape=_shape,
dtype=_obs_dtype)
def _render_gui(self, mode):
try:
import pygame # dependency to pygame only if rendering with human
except ImportError:
raise DependencyNotInstalled(
"pygame is not installed, run `pip install gym[toy_text]`")
if self.window is None:
pygame.init()
pygame.display.set_caption("Taxi")
if mode == "human":
self.window = pygame.display.set_mode(WINDOW_SIZE)
else: # "rgb_array"
self.window = pygame.Surface(WINDOW_SIZE)
if self.clock is None:
self.clock = pygame.time.Clock()
if self.taxi_imgs is None:
file_names = [
path.join(path.dirname(__file__), "img/cab_front.png"),
path.join(path.dirname(__file__), "img/cab_rear.png"),
path.join(path.dirname(__file__), "img/cab_right.png"),
path.join(path.dirname(__file__), "img/cab_left.png"),
]
self.taxi_imgs = [
pygame.transform.scale(pygame.image.load(file_name),
self.cell_size)
for file_name in file_names
]
if self.passenger_img is None:
file_name = path.join(path.dirname(__file__), "img/passenger.png")
self.passenger_img = pygame.transform.scale(
pygame.image.load(file_name), self.cell_size)
if self.destination_img is None:
file_name = path.join(path.dirname(__file__), "img/hotel.png")
self.destination_img = pygame.transform.scale(
pygame.image.load(file_name), self.cell_size)
self.destination_img.set_alpha(170)
if self.median_horiz is None:
file_names = [
path.join(path.dirname(__file__),
"img/gridworld_median_left.png"),
path.join(path.dirname(__file__),
"img/gridworld_median_horiz.png"),
path.join(path.dirname(__file__),
"img/gridworld_median_right.png"),
]
self.median_horiz = [
pygame.transform.scale(pygame.image.load(file_name),
self.cell_size)
for file_name in file_names
]
if self.median_vert is None:
file_names = [
path.join(path.dirname(__file__),
"img/gridworld_median_top.png"),
path.join(path.dirname(__file__),
"img/gridworld_median_vert.png"),
path.join(path.dirname(__file__),
"img/gridworld_median_bottom.png"),
]
self.median_vert = [
pygame.transform.scale(pygame.image.load(file_name),
self.cell_size)
for file_name in file_names
]
if self.background_img is None:
file_name = path.join(path.dirname(__file__),
"img/taxi_background.png")
self.background_img = pygame.transform.scale(
pygame.image.load(file_name), self.cell_size)
desc = self.desc
for y in range(0, desc.shape[0]):
for x in range(0, desc.shape[1]):
cell = (x * self.cell_size[0], y * self.cell_size[1])
self.window.blit(self.background_img, cell)
if desc[y][x] == b"|" and (y == 0 or desc[y - 1][x] != b"|"):
self.window.blit(self.median_vert[0], cell)
elif desc[y][x] == b"|" and (y == desc.shape[0] - 1
or desc[y + 1][x] != b"|"):
self.window.blit(self.median_vert[2], cell)
elif desc[y][x] == b"|":
self.window.blit(self.median_vert[1], cell)
elif desc[y][x] == b"-" and (x == 0 or desc[y][x - 1] != b"-"):
self.window.blit(self.median_horiz[0], cell)
elif desc[y][x] == b"-" and (x == desc.shape[1] - 1
or desc[y][x + 1] != b"-"):
self.window.blit(self.median_horiz[2], cell)
elif desc[y][x] == b"-":
self.window.blit(self.median_horiz[1], cell)
for cell, color in zip(self.locs, self.locs_colors):
color_cell = pygame.Surface(self.cell_size)
color_cell.set_alpha(128)
color_cell.fill(color)
loc = self.get_surf_loc(cell)
self.window.blit(color_cell, (loc[0], loc[1] + 10))
taxi_row, taxi_col, pass_idx, dest_idx = self.decode(self.s)
if pass_idx < 4:
self.window.blit(self.passenger_img,
self.get_surf_loc(self.locs[pass_idx]))
if self.lastaction in [0, 1, 2, 3]:
self.taxi_orientation = self.lastaction
dest_loc = self.get_surf_loc(self.locs[dest_idx])
taxi_location = self.get_surf_loc((taxi_row, taxi_col))
if dest_loc[1] <= taxi_location[1]:
self.window.blit(
self.destination_img,
(dest_loc[0], dest_loc[1] - self.cell_size[1] // 2),
)
self.window.blit(self.taxi_imgs[self.taxi_orientation],
taxi_location)
else: # change blit order for overlapping appearance
self.window.blit(self.taxi_imgs[self.taxi_orientation],
taxi_location)
self.window.blit(
self.destination_img,
(dest_loc[0], dest_loc[1] - self.cell_size[1] // 2),
)
if mode == "human":
pygame.display.update()
self.clock.tick(self.metadata["render_fps"])
else: # rgb_array
return np.transpose(np.array(pygame.surfarray.pixels3d(
self.window)),
axes=(1, 0, 2))
def render(self, mode="human"):
try:
import pygame
from pygame import gfxdraw
except ImportError:
raise DependencyNotInstalled(
"pygame is not installed, run `pip install gym[classic_control]`"
)
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.screen is None:
pygame.init()
pygame.display.init()
self.screen = pygame.display.set_mode(
(screen_width, screen_height))
if self.clock is None:
self.clock = pygame.time.Clock()
self.surf = pygame.Surface((screen_width, screen_height))
self.surf.fill((255, 255, 255))
pos = self.state[0]
xs = np.linspace(self.min_position, self.max_position, 100)
ys = self._height(xs)
xys = list(zip((xs - self.min_position) * scale, ys * scale))
pygame.draw.aalines(self.surf,
points=xys,
closed=False,
color=(0, 0, 0))
clearance = 10
l, r, t, b = -carwidth / 2, carwidth / 2, carheight, 0
coords = []
for c in [(l, b), (l, t), (r, t), (r, b)]:
c = pygame.math.Vector2(c).rotate_rad(math.cos(3 * pos))
coords.append((
c[0] + (pos - self.min_position) * scale,
c[1] + clearance + self._height(pos) * scale,
))
gfxdraw.aapolygon(self.surf, coords, (0, 0, 0))
gfxdraw.filled_polygon(self.surf, coords, (0, 0, 0))
for c in [(carwidth / 4, 0), (-carwidth / 4, 0)]:
c = pygame.math.Vector2(c).rotate_rad(math.cos(3 * pos))
wheel = (
int(c[0] + (pos - self.min_position) * scale),
int(c[1] + clearance + self._height(pos) * scale),
)
gfxdraw.aacircle(self.surf, wheel[0], wheel[1],
int(carheight / 2.5), (128, 128, 128))
gfxdraw.filled_circle(self.surf, wheel[0], wheel[1],
int(carheight / 2.5), (128, 128, 128))
flagx = int((self.goal_position - self.min_position) * scale)
flagy1 = int(self._height(self.goal_position) * scale)
flagy2 = flagy1 + 50
gfxdraw.vline(self.surf, flagx, flagy1, flagy2, (0, 0, 0))
gfxdraw.aapolygon(
self.surf,
[(flagx, flagy2), (flagx, flagy2 - 10), (flagx + 25, flagy2 - 5)],
(204, 204, 0),
)
gfxdraw.filled_polygon(
self.surf,
[(flagx, flagy2), (flagx, flagy2 - 10), (flagx + 25, flagy2 - 5)],
(204, 204, 0),
)
self.surf = pygame.transform.flip(self.surf, False, True)
self.screen.blit(self.surf, (0, 0))
if mode == "human":
pygame.event.pump()
self.clock.tick(self.metadata["render_fps"])
pygame.display.flip()
if mode == "rgb_array":
return np.transpose(np.array(pygame.surfarray.pixels3d(
self.screen)),
axes=(1, 0, 2))
else:
return self.isopen
def _render_gui(self, desc, mode):
try:
import pygame
except ImportError:
raise DependencyNotInstalled(
"pygame is not installed, run `pip install gym[toy_text]`")
if self.window_surface is None:
pygame.init()
pygame.display.init()
pygame.display.set_caption("Frozen Lake")
if mode == "human":
self.window_surface = pygame.display.set_mode(self.window_size)
else: # rgb_array
self.window_surface = pygame.Surface(self.window_size)
if self.clock is None:
self.clock = pygame.time.Clock()
if self.hole_img is None:
file_name = path.join(path.dirname(__file__), "img/hole.png")
self.hole_img = pygame.image.load(file_name)
if self.cracked_hole_img is None:
file_name = path.join(path.dirname(__file__),
"img/cracked_hole.png")
self.cracked_hole_img = pygame.image.load(file_name)
if self.ice_img is None:
file_name = path.join(path.dirname(__file__), "img/ice.png")
self.ice_img = pygame.image.load(file_name)
if self.goal_img is None:
file_name = path.join(path.dirname(__file__), "img/goal.png")
self.goal_img = pygame.image.load(file_name)
if self.start_img is None:
file_name = path.join(path.dirname(__file__), "img/stool.png")
self.start_img = pygame.image.load(file_name)
if self.elf_images is None:
elfs = [
path.join(path.dirname(__file__), "img/elf_left.png"),
path.join(path.dirname(__file__), "img/elf_down.png"),
path.join(path.dirname(__file__), "img/elf_right.png"),
path.join(path.dirname(__file__), "img/elf_up.png"),
]
self.elf_images = [pygame.image.load(f_name) for f_name in elfs]
cell_width = self.window_size[0] // self.ncol
cell_height = self.window_size[1] // self.nrow
smaller_cell_scale = 0.6
small_cell_w = int(smaller_cell_scale * cell_width)
small_cell_h = int(smaller_cell_scale * cell_height)
# prepare images
last_action = self.lastaction if self.lastaction is not None else 1
elf_img = self.elf_images[last_action]
elf_scale = min(
small_cell_w / elf_img.get_width(),
small_cell_h / elf_img.get_height(),
)
elf_dims = (
elf_img.get_width() * elf_scale,
elf_img.get_height() * elf_scale,
)
elf_img = pygame.transform.scale(elf_img, elf_dims)
hole_img = pygame.transform.scale(self.hole_img,
(cell_width, cell_height))
cracked_hole_img = pygame.transform.scale(self.cracked_hole_img,
(cell_width, cell_height))
ice_img = pygame.transform.scale(self.ice_img,
(cell_width, cell_height))
goal_img = pygame.transform.scale(self.goal_img,
(cell_width, cell_height))
start_img = pygame.transform.scale(self.start_img,
(small_cell_w, small_cell_h))
for y in range(self.nrow):
for x in range(self.ncol):
rect = (x * cell_width, y * cell_height, cell_width,
cell_height)
if desc[y][x] == b"H":
self.window_surface.blit(hole_img, (rect[0], rect[1]))
elif desc[y][x] == b"G":
self.window_surface.blit(ice_img, (rect[0], rect[1]))
goal_rect = self._center_small_rect(
rect, goal_img.get_size())
self.window_surface.blit(goal_img, goal_rect)
elif desc[y][x] == b"S":
self.window_surface.blit(ice_img, (rect[0], rect[1]))
stool_rect = self._center_small_rect(
rect, start_img.get_size())
self.window_surface.blit(start_img, stool_rect)
else:
self.window_surface.blit(ice_img, (rect[0], rect[1]))
pygame.draw.rect(self.window_surface, (180, 200, 230), rect, 1)
# paint the elf
bot_row, bot_col = self.s // self.ncol, self.s % self.ncol
cell_rect = (
bot_col * cell_width,
bot_row * cell_height,
cell_width,
cell_height,
)
if desc[bot_row][bot_col] == b"H":
self.window_surface.blit(cracked_hole_img,
(cell_rect[0], cell_rect[1]))
else:
elf_rect = self._center_small_rect(cell_rect, elf_img.get_size())
self.window_surface.blit(elf_img, elf_rect)
if mode == "human":
pygame.event.pump()
pygame.display.update()
self.clock.tick(self.metadata["render_fps"])
else: # rgb_array
return np.transpose(np.array(
pygame.surfarray.pixels3d(self.window_surface)),
axes=(1, 0, 2))
def _render(self, mode="human"):
assert mode in self.metadata["render_modes"]
try:
import pygame
from pygame import gfxdraw
except ImportError:
raise DependencyNotInstalled(
"pygame is not installed, run `pip install gym[classic_control]`"
)
if self.screen is None:
pygame.init()
if mode == "human":
pygame.display.init()
self.screen = pygame.display.set_mode(
(self.screen_dim, self.screen_dim))
else: # mode in {"rgb_array", "single_rgb_array"}
self.screen = pygame.Surface(
(self.screen_dim, self.screen_dim))
if self.clock is None:
self.clock = pygame.time.Clock()
self.surf = pygame.Surface((self.screen_dim, self.screen_dim))
self.surf.fill((255, 255, 255))
bound = 2.2
scale = self.screen_dim / (bound * 2)
offset = self.screen_dim // 2
rod_length = 1 * scale
rod_width = 0.2 * scale
l, r, t, b = 0, rod_length, rod_width / 2, -rod_width / 2
coords = [(l, b), (l, t), (r, t), (r, b)]
transformed_coords = []
for c in coords:
c = pygame.math.Vector2(c).rotate_rad(self.state[0] + np.pi / 2)
c = (c[0] + offset, c[1] + offset)
transformed_coords.append(c)
gfxdraw.aapolygon(self.surf, transformed_coords, (204, 77, 77))
gfxdraw.filled_polygon(self.surf, transformed_coords, (204, 77, 77))
gfxdraw.aacircle(self.surf, offset, offset, int(rod_width / 2),
(204, 77, 77))
gfxdraw.filled_circle(self.surf, offset, offset, int(rod_width / 2),
(204, 77, 77))
rod_end = (rod_length, 0)
rod_end = pygame.math.Vector2(rod_end).rotate_rad(self.state[0] +
np.pi / 2)
rod_end = (int(rod_end[0] + offset), int(rod_end[1] + offset))
gfxdraw.aacircle(self.surf, rod_end[0], rod_end[1], int(rod_width / 2),
(204, 77, 77))
gfxdraw.filled_circle(self.surf, rod_end[0], rod_end[1],
int(rod_width / 2), (204, 77, 77))
fname = path.join(path.dirname(__file__), "assets/clockwise.png")
img = pygame.image.load(fname)
if self.last_u is not None:
scale_img = pygame.transform.smoothscale(
img,
(scale * np.abs(self.last_u) / 2,
scale * np.abs(self.last_u) / 2),
)
is_flip = bool(self.last_u > 0)
scale_img = pygame.transform.flip(scale_img, is_flip, True)
self.surf.blit(
scale_img,
(
offset - scale_img.get_rect().centerx,
offset - scale_img.get_rect().centery,
),
)
# drawing axle
gfxdraw.aacircle(self.surf, offset, offset, int(0.05 * scale),
(0, 0, 0))
gfxdraw.filled_circle(self.surf, offset, offset, int(0.05 * scale),
(0, 0, 0))
self.surf = pygame.transform.flip(self.surf, False, True)
self.screen.blit(self.surf, (0, 0))
if mode == "human":
pygame.event.pump()
self.clock.tick(self.metadata["render_fps"])
pygame.display.flip()
else: # mode == "rgb_array":
return np.transpose(np.array(pygame.surfarray.pixels3d(
self.screen)),
axes=(1, 0, 2))
def render(self, mode="human"):
try:
import pygame
from pygame import gfxdraw
except ImportError:
raise DependencyNotInstalled(
"pygame is not installed, run `pip install gym[box2d]`"
)
if self.screen is None:
pygame.init()
pygame.display.init()
self.screen = pygame.display.set_mode((VIEWPORT_W, VIEWPORT_H))
if self.clock is None:
self.clock = pygame.time.Clock()
self.surf = pygame.Surface(self.screen.get_size())
pygame.transform.scale(self.surf, (SCALE, SCALE))
pygame.draw.rect(self.surf, (255, 255, 255), self.surf.get_rect())
for obj in self.particles:
obj.ttl -= 0.15
obj.color1 = (
int(max(0.2, 0.15 + obj.ttl) * 255),
int(max(0.2, 0.5 * obj.ttl) * 255),
int(max(0.2, 0.5 * obj.ttl) * 255),
)
obj.color2 = (
int(max(0.2, 0.15 + obj.ttl) * 255),
int(max(0.2, 0.5 * obj.ttl) * 255),
int(max(0.2, 0.5 * obj.ttl) * 255),
)
self._clean_particles(False)
for p in self.sky_polys:
scaled_poly = []
for coord in p:
scaled_poly.append((coord[0] * SCALE, coord[1] * SCALE))
pygame.draw.polygon(self.surf, (0, 0, 0), scaled_poly)
gfxdraw.aapolygon(self.surf, scaled_poly, (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:
pygame.draw.circle(
self.surf,
color=obj.color1,
center=trans * f.shape.pos * SCALE,
radius=f.shape.radius * SCALE,
)
pygame.draw.circle(
self.surf,
color=obj.color2,
center=trans * f.shape.pos * SCALE,
radius=f.shape.radius * SCALE,
)
else:
path = [trans * v * SCALE for v in f.shape.vertices]
pygame.draw.polygon(self.surf, color=obj.color1, points=path)
gfxdraw.aapolygon(self.surf, path, obj.color1)
pygame.draw.aalines(
self.surf, color=obj.color2, points=path, closed=True
)
for x in [self.helipad_x1, self.helipad_x2]:
x = x * SCALE
flagy1 = self.helipad_y * SCALE
flagy2 = flagy1 + 50
pygame.draw.line(
self.surf,
color=(255, 255, 255),
start_pos=(x, flagy1),
end_pos=(x, flagy2),
width=1,
)
pygame.draw.polygon(
self.surf,
color=(204, 204, 0),
points=[
(x, flagy2),
(x, flagy2 - 10),
(x + 25, flagy2 - 5),
],
)
gfxdraw.aapolygon(
self.surf,
[(x, flagy2), (x, flagy2 - 10), (x + 25, flagy2 - 5)],
(204, 204, 0),
)
self.surf = pygame.transform.flip(self.surf, False, True)
self.screen.blit(self.surf, (0, 0))
if mode == "human":
pygame.event.pump()
self.clock.tick(self.metadata["render_fps"])
pygame.display.flip()
if mode == "rgb_array":
return np.transpose(
np.array(pygame.surfarray.pixels3d(self.surf)), axes=(1, 0, 2)
)
else:
return self.isopen