Merge pull request #99 from D-o-d-o-x/fix_automatic_render

Fix: Some fancy envs not following gym spec regarding rendering behavior

fancy_gym/envs/mujoco/ant_jump/ant_jump.py

@@ -115,6 +115,7 @@ class AntJumpEnv(AntEnvCustomXML):
                          contact_force_range=contact_force_range,
                          reset_noise_scale=reset_noise_scale,
                          exclude_current_positions_from_observation=exclude_current_positions_from_observation, **kwargs)
+        self.render_active = False
 
     def step(self, action):
         self.current_step += 1
@@ -153,8 +154,15 @@ class AntJumpEnv(AntEnvCustomXML):
         }
         truncated = False
 
+        if self.render_active and self.render_mode=='human':
+            self.render()
+
         return obs, reward, terminated, truncated, info
 
+    def render(self):
+        self.render_active = True
+        return super().render()
+
     def _get_obs(self):
         return np.append(super()._get_obs(), self.goal)
 

fancy_gym/envs/mujoco/beerpong/beerpong.py

@@ -44,6 +44,7 @@ class BeerPongEnv(MujocoEnv, utils.EzPickle):
     }
 
     def __init__(self, **kwargs):
+        utils.EzPickle.__init__(self)
         self._steps = 0
         # Small Context -> Easier. Todo: Should we do different versions?
         # self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets", "beerpong_wo_cup.xml")
@@ -89,7 +90,7 @@ class BeerPongEnv(MujocoEnv, utils.EzPickle):
             observation_space=self.observation_space,
             **kwargs
         )
-        utils.EzPickle.__init__(self)
+        self.render_active = False
 
     @property
     def start_pos(self):
@@ -169,8 +170,15 @@ class BeerPongEnv(MujocoEnv, utils.EzPickle):
 
         truncated = False
 
+        if self.render_active and self.render_mode=='human':
+            self.render()
+
         return ob, reward, terminated, truncated, infos
 
+    def render(self):
+        self.render_active = True
+        return super().render()
+
     def _get_obs(self):
         theta = self.data.qpos.flat[:7].copy()
         theta_dot = self.data.qvel.flat[:7].copy()

fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py

@@ -4,6 +4,7 @@ import numpy as np
 from gymnasium import utils, spaces
 from gymnasium.envs.mujoco import MujocoEnv
 from fancy_gym.envs.mujoco.box_pushing.box_pushing_utils import rot_to_quat, get_quaternion_error, rotation_distance
+from fancy_gym.envs.mujoco.box_pushing.box_pushing_utils import rot_to_quat, get_quaternion_error, rotation_distance
 from fancy_gym.envs.mujoco.box_pushing.box_pushing_utils import q_max, q_min, q_dot_max, q_torque_max
 from fancy_gym.envs.mujoco.box_pushing.box_pushing_utils import desired_rod_quat
 
@@ -60,6 +61,7 @@ class BoxPushingEnvBase(MujocoEnv, utils.EzPickle):
                            frame_skip=self.frame_skip,
                            observation_space=self.observation_space, **kwargs)
         self.action_space = spaces.Box(low=-1, high=1, shape=(7,))
+        self.render_active = False
 
     def step(self, action):
         action = 10 * np.clip(action, self.action_space.low, self.action_space.high)
@@ -108,8 +110,15 @@ class BoxPushingEnvBase(MujocoEnv, utils.EzPickle):
         terminated = episode_end and infos['is_success']
         truncated = episode_end and not infos['is_success']
 
+        if self.render_active and self.render_mode=='human':
+            self.render()
+
         return obs, reward, terminated, truncated, infos
 
+    def render(self):
+        self.render_active = True
+        return super().render()
+
     def reset_model(self):
         # rest box to initial position
         self.set_state(self.init_qpos_box_pushing, self.init_qvel_box_pushing)

fancy_gym/envs/mujoco/half_cheetah_jump/half_cheetah_jump.py

@@ -60,7 +60,11 @@ class HalfCheetahEnvCustomXML(HalfCheetahEnv):
             default_camera_config=DEFAULT_CAMERA_CONFIG,
             **kwargs,
         )
+        self.render_active = False
 
+    def render(self):
+        self.render_active = True
+        return super().render()
 
 class HalfCheetahJumpEnv(HalfCheetahEnvCustomXML):
     """
@@ -120,6 +124,9 @@ class HalfCheetahJumpEnv(HalfCheetahEnvCustomXML):
             'max_height': self.max_height
         }
 
+        if self.render_active and self.render_mode=='human':
+            self.render()
+
         return observation, reward, terminated, truncated, info
 
     def _get_obs(self):

fancy_gym/envs/mujoco/hopper_jump/hopper_jump.py

@@ -88,6 +88,12 @@ class HopperEnvCustomXML(HopperEnv):
             **kwargs,
         )
 
+        self.render_active = False
+
+    def render(self):
+        self.render_active = True
+        return super().render()
+
 
 class HopperJumpEnv(HopperEnvCustomXML):
     """
@@ -201,6 +207,10 @@ class HopperJumpEnv(HopperEnvCustomXML):
             healthy=self.is_healthy,
             contact_dist=self.contact_dist or 0
         )
+
+        if self.render_active and self.render_mode=='human':
+            self.render()
+
         return observation, reward, terminated, truncated, info
 
     def _get_obs(self):

fancy_gym/envs/mujoco/hopper_jump/hopper_jump_on_box.py

@@ -140,6 +140,9 @@ class HopperJumpOnBoxEnv(HopperEnvCustomXML):
 
         truncated = self.current_step >= self.max_episode_steps and not terminated
 
+        if self.render_active and self.render_mode=='human':
+            self.render()
+
         return observation, reward, terminated, truncated, info
 
     def _get_obs(self):

fancy_gym/envs/mujoco/hopper_throw/hopper_throw.py

@@ -61,6 +61,8 @@ class HopperThrowEnv(HopperEnvCustomXML):
                          exclude_current_positions_from_observation=exclude_current_positions_from_observation,
                          **kwargs)
 
+        self.render_active = False
+
     def step(self, action):
         self.current_step += 1
         self.do_simulation(action, self.frame_skip)
@@ -94,8 +96,15 @@ class HopperThrowEnv(HopperEnvCustomXML):
         }
         truncated = False
 
+        if self.render_active and self.render_mode=='human':
+            self.render()
+
         return observation, reward, terminated, truncated, info
 
+    def render(self):
+        self.render_active = True
+        return super().render()
+
     def _get_obs(self):
         return np.append(super()._get_obs(), self.goal)
 

fancy_gym/envs/mujoco/hopper_throw/hopper_throw_in_basket.py

@@ -68,6 +68,7 @@ class HopperThrowInBasketEnv(HopperEnvCustomXML):
                          reset_noise_scale=reset_noise_scale,
                          exclude_current_positions_from_observation=exclude_current_positions_from_observation,
                          **kwargs)
+        self.render_active = False
 
     def step(self, action):
 
@@ -118,8 +119,15 @@ class HopperThrowInBasketEnv(HopperEnvCustomXML):
         }
         truncated = False
 
+        if self.render_active and self.render_mode=='human':
+            self.render()
+
         return observation, reward, terminated, truncated, info
 
+    def render(self):
+        self.render_active = True
+        return super().render()
+
     def _get_obs(self):
         return np.append(super()._get_obs(), self.basket_x)
 

fancy_gym/envs/mujoco/reacher/reacher.py

@@ -47,6 +47,8 @@ class ReacherEnv(MujocoEnv, utils.EzPickle):
                            **kwargs
                            )
 
+        self.render_active = False
+
     def step(self, action):
         self._steps += 1
 
@@ -77,8 +79,15 @@ class ReacherEnv(MujocoEnv, utils.EzPickle):
             goal=self.goal if hasattr(self, "goal") else None
         )
 
+        if self.render_active and self.render_mode=='human':
+            self.render()
+
         return ob, reward, terminated, truncated, info
 
+    def render(self):
+        self.render_active = True
+        return super().render()
+
     def distance_reward(self):
         vec = self.get_body_com("fingertip") - self.get_body_com("target")
         return -self._reward_weight * np.linalg.norm(vec)

fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py

@@ -71,6 +71,8 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
                            observation_space=self.observation_space,
                            **kwargs)
 
+        self.render_active = False
+
         if ctxt_dim == 2:
             self.context_bounds = CONTEXT_BOUNDS_2DIMS
         elif ctxt_dim == 4:
@@ -158,8 +160,15 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
 
         terminated, truncated = self._terminated, False
 
+        if self.render_active and self.render_mode=='human':
+            self.render()
+
         return self._get_obs(), reward, terminated, truncated, info
 
+    def render(self):
+        self.render_active = True
+        return super().render()
+
     def _contact_checker(self, id_1, id_2):
         for coni in range(0, self.data.ncon):
             con = self.data.contact[coni]

fancy_gym/envs/mujoco/walker_2d_jump/walker_2d_jump.py

@@ -79,6 +79,8 @@ class Walker2dEnvCustomXML(Walker2dEnv):
             **kwargs,
         )
 
+        self.render_active = False
+
 
 class Walker2dJumpEnv(Walker2dEnvCustomXML):
     """
@@ -145,8 +147,15 @@ class Walker2dJumpEnv(Walker2dEnvCustomXML):
         }
         truncated = False
 
+        if self.render_active and self.render_mode=='human':
+            self.render()
+
         return observation, reward, terminated, truncated, info
 
+    def render(self):
+        self.render_active = True
+        return super().render()
+
     def _get_obs(self):
         return np.append(super()._get_obs(), self.goal)
 

fancy_gym/examples/example_replanning_envs.py

@@ -3,14 +3,14 @@ import fancy_gym
 
 
 def example_run_replanning_env(env_name="fancy_ProDMP/BoxPushingDenseReplan-v0", seed=1, iterations=1, render=False):
-    env = gym.make(env_name)
+    env = gym.make(env_name, render_mode='human' if render else None)
     env.reset(seed=seed)
     for i in range(iterations):
         while True:
             ac = env.action_space.sample()
             obs, reward, terminated, truncated, info = env.step(ac)
             if render:
-                env.render(mode="human")
+                env.render()
             if terminated or truncated:
                 env.reset()
                 break
@@ -38,13 +38,13 @@ def example_custom_replanning_envs(seed=0, iteration=100, render=True):
                         'replanning_schedule': lambda pos, vel, obs, action, t: t % 25 == 0,
                         'condition_on_desired': True}
 
-    base_env = gym.make(base_env_id)
+    base_env = gym.make(base_env_id, render_mode='human' if render else None)
     env = fancy_gym.make_bb(env=base_env, wrappers=wrappers, black_box_kwargs=black_box_kwargs,
                             traj_gen_kwargs=trajectory_generator_kwargs, controller_kwargs=controller_kwargs,
                             phase_kwargs=phase_generator_kwargs, basis_kwargs=basis_generator_kwargs,
                             seed=seed)
     if render:
-        env.render(mode="human")
+        env.render()
 
     obs = env.reset()
 

fancy_gym/examples/examples_dmc.py

@@ -17,7 +17,7 @@ def example_dmc(env_id="dm_control/fish-swim", seed=1, iterations=1000, render=T
     Returns:
 
     """
-    env = gym.make(env_id)
+    env = gym.make(env_id, render_mode='human' if render else None)
     rewards = 0
     obs = env.reset(seed=seed)
     print("observation shape:", env.observation_space.shape)
@@ -26,7 +26,7 @@ def example_dmc(env_id="dm_control/fish-swim", seed=1, iterations=1000, render=T
     for i in range(iterations):
         ac = env.action_space.sample()
         if render:
-            env.render(mode="human")
+            env.render()
         obs, reward, terminated, truncated, info = env.step(ac)
         rewards += reward
 
@@ -84,7 +84,7 @@ def example_custom_dmc_and_mp(seed=1, iterations=1, render=True):
     # basis_generator_kwargs = {'basis_generator_type': 'rbf',
     #                           'num_basis': 5
     #                           }
-    base_env = gym.make(base_env_id)
+    base_env = gym.make(base_env_id, render_mode='human' if render else None)
     env = fancy_gym.make_bb(env=base_env, wrappers=wrappers, black_box_kwargs={},
                             traj_gen_kwargs=trajectory_generator_kwargs, controller_kwargs=controller_kwargs,
                             phase_kwargs=phase_generator_kwargs, basis_kwargs=basis_generator_kwargs,
@@ -96,7 +96,7 @@ def example_custom_dmc_and_mp(seed=1, iterations=1, render=True):
     # It is also possible to change them mode multiple times when
     # e.g. only every nth trajectory should be displayed.
     if render:
-        env.render(mode="human")
+        env.render()
 
     rewards = 0
     obs = env.reset()
@@ -115,7 +115,7 @@ def example_custom_dmc_and_mp(seed=1, iterations=1, render=True):
     env.close()
     del env
 
-def main(render = True):
+def main(render = False):
     # # Standard DMC Suite tasks
     example_dmc("dm_control/fish-swim", seed=10, iterations=1000, render=render)
     #

fancy_gym/examples/examples_general.py

@@ -21,7 +21,7 @@ def example_general(env_id="Pendulum-v1", seed=1, iterations=1000, render=True):
 
     """
 
-    env = gym.make(env_id)
+    env = gym.make(env_id, render_mode='human' if render else None)
     rewards = 0
     obs = env.reset(seed=seed)
     print("Observation shape: ", env.observation_space.shape)
@@ -85,7 +85,7 @@ def example_async(env_id="fancy/HoleReacher-v0", n_cpu=4, seed=int('533D', 16),
     # do not return values above threshold
     return *map(lambda v: np.stack(v)[:n_samples], buffer.values()),
 
-def main(render = True):
+def main(render = False):
     # Basic gym task
     example_general("Pendulum-v1", seed=10, iterations=200, render=render)
 

fancy_gym/examples/examples_metaworld.py

@@ -2,7 +2,7 @@ import gymnasium as gym
 import fancy_gym
 
 
-def example_meta(env_id="fish-swim", seed=1, iterations=1000, render=True):
+def example_meta(env_id="metaworld/button-press-v2", seed=1, iterations=1000, render=True):
     """
     Example for running a MetaWorld based env in the step based setting.
     The env_id has to be specified as `task_name-v2`. V1 versions are not supported and we always
@@ -18,7 +18,7 @@ def example_meta(env_id="fish-swim", seed=1, iterations=1000, render=True):
     Returns:
 
     """
-    env = gym.make(env_id)
+    env = gym.make(env_id, render_mode='human' if render else None)
     rewards = 0
     obs = env.reset(seed=seed)
     print("observation shape:", env.observation_space.shape)
@@ -27,9 +27,7 @@ def example_meta(env_id="fish-swim", seed=1, iterations=1000, render=True):
     for i in range(iterations):
         ac = env.action_space.sample()
         if render:
-            # THIS NEEDS TO BE SET TO FALSE FOR NOW, BECAUSE THE INTERFACE FOR RENDERING IS DIFFERENT TO BASIC GYM
-            # TODO: Remove this, when Metaworld fixes its interface.
-            env.render(False)
+            env.render()
         obs, reward, terminated, truncated, info = env.step(ac)
         rewards += reward
         if terminated or truncated:
@@ -81,7 +79,7 @@ def example_custom_meta_and_mp(seed=1, iterations=1, render=True):
     basis_generator_kwargs = {'basis_generator_type': 'rbf',
                               'num_basis': 5
                               }
-    base_env = gym.make(base_env_id)
+    base_env = gym.make(base_env_id, render_mode='human' if render else None)
     env = fancy_gym.make_bb(env=base_env, wrappers=wrappers, black_box_kwargs={},
                             traj_gen_kwargs=trajectory_generator_kwargs, controller_kwargs=controller_kwargs,
                             phase_kwargs=phase_generator_kwargs, basis_kwargs=basis_generator_kwargs,
@@ -93,7 +91,7 @@ def example_custom_meta_and_mp(seed=1, iterations=1, render=True):
     # It is also possible to change them mode multiple times when
     # e.g. only every nth trajectory should be displayed.
     if render:
-        env.render(mode="human")
+        env.render()
 
     rewards = 0
     obs = env.reset(seed=seed)

fancy_gym/examples/examples_open_ai.py

@@ -13,15 +13,13 @@ def example_mp(env_name, seed=1, render=True):
     Returns:
 
     """
-    env = gym.make(env_name)
+    env = gym.make(env_name, render_mode='human' if render else None)
 
     returns = 0
     obs = env.reset(seed=seed)
     # number of samples/full trajectories (multiple environment steps)
     for i in range(10):
         if render and i % 2 == 0:
-            env.render(mode="human")
-        else:
             env.render()
         ac = env.action_space.sample()
         obs, reward, terminated, truncated, info = env.step(ac)