From e321fb348a3f3816830d313fb9e1430d31830e6f Mon Sep 17 00:00:00 2001
From: Nicole Ng <shinyinn@usc.edu>
Date: Tue, 29 Sep 2020 01:41:08 -0700
Subject: [PATCH 1/4] Replace DMControlViewer with built-in DM viewer
---
src/garage/envs/dm_control/dm_control_env.py | 8 +++-----
1 file changed, 3 insertions(+), 5 deletions(-)
diff --git a/src/garage/envs/dm_control/dm_control_env.py b/src/garage/envs/dm_control/dm_control_env.py
index 5c47b4634f..70963850b5 100644
--- a/src/garage/envs/dm_control/dm_control_env.py
+++ b/src/garage/envs/dm_control/dm_control_env.py
@@ -1,12 +1,13 @@
"""DM control environment."""
import akro
from dm_control import suite
+from dm_control import viewer
from dm_control.rl.control import flatten_observation
from dm_env import StepType as dm_StepType
import numpy as np
from garage import Environment, EnvSpec, EnvStep, StepType
-from garage.envs.dm_control.dm_control_viewer import DmControlViewer
+# from garage.envs.dm_control.dm_control_viewer import DmControlViewer
def _flat_shape(observation):
@@ -180,14 +181,11 @@ def render(self, mode):
def visualize(self):
"""Creates a visualization of the environment."""
if not self._viewer:
- title = 'dm_control {}'.format(self._name)
- self._viewer = DmControlViewer(title=title)
+ self._viewer = viewer
self._viewer.launch(self._env)
def close(self):
"""Close the environment."""
- if self._viewer:
- self._viewer.close()
self._env.close()
self._viewer = None
self._env = None
From 6ebfe527e2cca047f40b2551510d86375545c98f Mon Sep 17 00:00:00 2001
From: Nicole Ng <shinyinn@usc.edu>
Date: Tue, 29 Sep 2020 01:41:08 -0700
Subject: [PATCH 2/4] Replace DMControlViewer with built-in DM viewer
---
src/garage/envs/dm_control/dm_control_env.py | 7 ++-----
1 file changed, 2 insertions(+), 5 deletions(-)
diff --git a/src/garage/envs/dm_control/dm_control_env.py b/src/garage/envs/dm_control/dm_control_env.py
index 5c47b4634f..acee75406f 100644
--- a/src/garage/envs/dm_control/dm_control_env.py
+++ b/src/garage/envs/dm_control/dm_control_env.py
@@ -1,12 +1,12 @@
"""DM control environment."""
import akro
from dm_control import suite
+from dm_control import viewer
from dm_control.rl.control import flatten_observation
from dm_env import StepType as dm_StepType
import numpy as np
from garage import Environment, EnvSpec, EnvStep, StepType
-from garage.envs.dm_control.dm_control_viewer import DmControlViewer
def _flat_shape(observation):
@@ -180,14 +180,11 @@ def render(self, mode):
def visualize(self):
"""Creates a visualization of the environment."""
if not self._viewer:
- title = 'dm_control {}'.format(self._name)
- self._viewer = DmControlViewer(title=title)
+ self._viewer = viewer
self._viewer.launch(self._env)
def close(self):
"""Close the environment."""
- if self._viewer:
- self._viewer.close()
self._env.close()
self._viewer = None
self._env = None
From 8164d53c4f11316d072f6e89b3ed674ead69ebc3 Mon Sep 17 00:00:00 2001
From: Nicole Ng <shinyinn@usc.edu>
Date: Tue, 29 Sep 2020 20:03:17 -0700
Subject: [PATCH 3/4] Resolve merge conflict
---
src/garage/envs/dm_control/dm_control_env.py | 4 ----
1 file changed, 4 deletions(-)
diff --git a/src/garage/envs/dm_control/dm_control_env.py b/src/garage/envs/dm_control/dm_control_env.py
index cd7c5e89cf..acee75406f 100644
--- a/src/garage/envs/dm_control/dm_control_env.py
+++ b/src/garage/envs/dm_control/dm_control_env.py
@@ -7,10 +7,6 @@
import numpy as np
from garage import Environment, EnvSpec, EnvStep, StepType
-<<<<<<< HEAD
-=======
-# from garage.envs.dm_control.dm_control_viewer import DmControlViewer
->>>>>>> e321fb348a3f3816830d313fb9e1430d31830e6f
def _flat_shape(observation):
From 2e5ebc9a961ab7faef7dcc76e9cf4b0e13bcf7eb Mon Sep 17 00:00:00 2001
From: Nicole Ng <shinyinn@usc.edu>
Date: Thu, 29 Oct 2020 02:41:22 -0700
Subject: [PATCH 4/4] Delete DMControlViewer
---
.../envs/dm_control/dm_control_viewer.py | 55 -------------------
1 file changed, 55 deletions(-)
delete mode 100644 src/garage/envs/dm_control/dm_control_viewer.py
diff --git a/src/garage/envs/dm_control/dm_control_viewer.py b/src/garage/envs/dm_control/dm_control_viewer.py
deleted file mode 100644
index dad5fef015..0000000000
--- a/src/garage/envs/dm_control/dm_control_viewer.py
+++ /dev/null
@@ -1,55 +0,0 @@
-""" Wrapper for the dm_control viewer which allows single-stepping """
-import dm_control.viewer.application as dm_viewer_app
-import glfw
-
-
-class DmControlViewer(dm_viewer_app.Application):
- def render(self):
- # Don't try to render into closed windows
- if not self._window._context:
- return
-
- self._render_once()
-
- # Just keep rendering if we're paused, but hold onto control flow
- while self._pause_subject.value:
- self._render_once()
-
- def _render_once(self):
- # See https://github.com/deepmind/dm_control/blob/92f9913013face0468442cd0964d5973ea2089ea/dm_control/viewer/gui/glfw_gui.py#L280 # noqa: E501
- window = self._window
- tick_func = self._tick_func
- if (window._context
- and not glfw.window_should_close(window._context.window)):
- pixels = tick_func()
- with window._context.make_current() as ctx:
- ctx.call(window._update_gui_on_render_thread,
- window._context.window, pixels)
- window._mouse.process_events()
- window._keyboard.process_events()
- else:
- window.close()
-
- def launch(self, environment_loader, policy=None):
- # See https://github.com/deepmind/dm_control/blob/92f9913013face0468442cd0964d5973ea2089ea/dm_control/viewer/application.py#L304 # noqa: E501
- if environment_loader is None:
- raise ValueError('"environment_loader" argument is required.')
- if callable(environment_loader):
- self._environment_loader = environment_loader
- else:
- self._environment_loader = lambda: environment_loader
- self._policy = policy
- self._load_environment(zoom_to_scene=True)
-
- def tick():
- self._viewport.set_size(*self._window.shape)
- self._tick()
- return self._renderer.pixels
-
- self._tick_func = tick
-
- # Start unpaused
- self._pause_subject.value = False
-
- def close(self):
- self._window.close()