Fix alternative rendering

mujoco_maze/alt_rendering.py

@@ -1,92 +0,0 @@
-"""
-2D rendering framework
-"""
-import os
-import sys
-
-if "Apple" in sys.version:
-    if "DYLD_FALLBACK_LIBRARY_PATH" in os.environ:
-        os.environ["DYLD_FALLBACK_LIBRARY_PATH"] += ":/usr/lib"
-        # (JDS 2016/04/15): avoid bug on Anaconda 2.3.0 / Yosemite
-
-from gym import error
-
-
-import pyglet
-
-from pyglet import gl
-
-
-RAD2DEG = 57.29577951308232
-
-
-def get_display(spec):
-    """Convert a display specification (such as :0) into an actual Display
-    object.
-
-    Pyglet only supports multiple Displays on Linux.
-    """
-    if spec is None:
-        return pyglet.canvas.get_display()
-        # returns already available pyglet_display,
-        # if there is no pyglet display available then it creates one
-    elif isinstance(spec, str):
-        return pyglet.canvas.Display(spec)
-    else:
-        raise error.Error(
-            f"Invalid display specification: {spec}. (Must be a string like :0 or None.)"
-        )
-
-
-def get_window(width, height, display, **kwargs):
-    """
-    Will create a pyglet window from the display specification provided.
-    """
-    screen = display.get_screens()  # available screens
-    config = screen[0].get_best_config()  # selecting the first screen
-    context = config.create_context(None)  # create GL context
-
-    return pyglet.window.Window(
-        width=width,
-        height=height,
-        display=display,
-        config=config,
-        context=context,
-        **kwargs,
-    )
-
-
-class ImageViewer:
-    def __init__(self, width, height, display=None):
-        display = get_display(display)
-
-        self.width = width
-        self.height = height
-        self.window = get_window(width=width, height=height, display=display)
-        self.window.on_close = self.window_closed_by_user
-        self.isopen = True
-
-        gl.glEnable(gl.GL_BLEND)
-        gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
-
-    def imshow(self, arr):
-        assert len(arr.shape) == 3, "You passed in an image with the wrong number shape"
-        self.window.clear()
-        self.window.switch_to()
-        self.window.dispatch_events()
-        image = pyglet.image.ImageData(
-            arr.shape[1], arr.shape[0], "RGB", arr.tobytes(), pitch=arr.shape[1] * -3
-        )
-        image.blit(0, 0)  # draw
-        self.window.flip()
-
-    def close(self):
-        if self.isopen and sys.meta_path:
-            self.window.close()
-            self.isopen = False
-
-    def window_closed_by_user(self):
-        self.isopen = False
-
-    def __del__(self):
-        self.close()

mujoco_maze/maze_env.py

@@ -363,15 +363,26 @@ class MazeEnv(gym.Env):
 
     def render(self, mode="human", **kwargs) -> Any:
         if self._use_alt_viewer:
-            image = self.wrapped_env.sim.render(640, 480)[::-1, :, :]
             if self._alt_viewer is None:
-                from mujoco_maze.alt_rendering import ImageViewer
+                from gym.envs.classic_control.rendering import SimpleImageViewer
+                import mujoco_py
 
-                self._alt_viewer = ImageViewer(640, 480)
+                self._mj_viewer = mujoco_py.MjRenderContextOffscreen(
+                    self.wrapped_env.sim
+                )
+                self._alt_viewer = SimpleImageViewer()
+
+            self._mj_viewer._set_mujoco_buffers()
+            self._mj_viewer.render(640, 480)
+            image = np.asarray(
+                self._mj_viewer.read_pixels(640, 480, depth=False)[::-1, :, :],
+                dtype=np.uint8,
+            )
             if mode == "rgb_array":
                 return image
             else:
-                self._alt_viewer.imshow(image)
+                if not (image.min() == 0 and image.max() == 0):
+                    self._alt_viewer.imshow(image)
                 return self._alt_viewer.isopen
         else:
             return self.wrapped_env.render(mode=mode, **kwargs)