Merge pull request #7 from skim0119/5_matplotlib_renderer

Add matplotlib renderer for quick debugging. Resolve #5

.gitignore

@@ -9,6 +9,7 @@ model
 save
 *.mp4
 .DS_Store
+.vscode
 
 *.pov
 

README.md

@@ -27,7 +27,26 @@ python -m gym_softrobot.debug.make     # Make environment and run 10 steps
 python -m gym_softrobot.debug.registry # Print gym-softrobot environment
 ```
 
-We use [POVray](https://wiki.povray.org/content/HowTo:Install_POV) python wrapper [Vapory](https://github.com/Zulko/vapory) to visualize the motion in 3D.
+Requirements:
+- Python 3.8+
+- OpenAI Gym 0.21.0
+- PyElastica 0.2+
+- Matplotlib (optional for display rendering and plotting)	
+- POVray (optional for 3D rendering)
+
+### Rendering
+
+We support two different backends for the rendering: [POVray](https://wiki.povray.org/content/HowTo:Install_POV) and [Matplotlib](https://matplotlib.org/).
+The default is set to use POVray, but the configuration can be switched by adding following lines.
+
+```py
+from gym_softrobot.config import RendererType
+gym_softrobot.RENDERER_CONFIG = RendererType.MATPLOTLIB  # Default: POVRAY
+```
+
+#### POVray 
+
+To make a good-looking 3D videos and figures, we use [POVray](https://wiki.povray.org/content/HowTo:Install_POV) python wrapper [Vapory](https://github.com/Zulko/vapory).
 POVray is not a requirement to run the environment, but it is necessary to use `env.render()` function as typical gym environment.
 
 If you would like to test `POVray` with `gym-softrobot`, use
@@ -36,13 +55,9 @@ If you would like to test `POVray` with `gym-softrobot`, use
 python -m gym_softrobot.debug.render  # Render 10 frames using vapory
 ```
 
-Requirements:
-- Python 3.8+
-- OpenAI Gym 0.21.0
-- PyElastica 0.2+
-- Matplotlib (optional for display rendering and plotting)	
-- POVray (optional for 3D rendering)
+#### Matplotlib
 
+We provide secondary rendering tool using [Matplotlib](https://matplotlib.org/) for a quick debugging and sanity checking.
 
 ## Reinforcement Learning Example
 

gym_softrobot/__init__.py

@@ -1,5 +1,7 @@
 from gym.envs.registration import register
 
+from gym_softrobot.config import *
+
 """ Octopus Environment """
 register(
     id='OctoFlat-v0',
@@ -43,3 +45,7 @@
 #    id='InertialPull-v0',
 #    entry_point='gym_softrobot.envs.simple_control:InertialPullEnv',
 #)
+
+
+""" Global Configuration Parameters """
+RENDERER_CONFIG = RendererType.POVRAY

gym_softrobot/config.py

@@ -0,0 +1,5 @@
+from enum import Enum
+
+class RendererType(Enum):
+    POVRAY=1
+    MATPLOTLIB=2

gym_softrobot/debug/render.py

@@ -1,8 +1,12 @@
 import gym 
 import gym_softrobot
 
+from gym_softrobot.config import RendererType
+
+#gym_softrobot.RENDERER_CONFIG = RendererType.MATPLOTLIB
+
 def main():
-    env = gym.make('OctoFlat-v0', recording_fps=30)
+    env = gym.make('OctoArmSingle-v0', recording_fps=30)
 
     observation = env.reset()
     for step in range(10):

gym_softrobot/envs/octopus/arm_single_env.py

@@ -16,9 +16,12 @@
 from elastica.timestepper import extend_stepper_interface
 from elastica._calculus import _isnan_check
 
+from gym_softrobot import RENDERER_CONFIG
+from gym_softrobot.config import RendererType
 from gym_softrobot.envs.octopus.build import build_arm
 from gym_softrobot.utils.custom_elastica.callback_func import RodCallBack, RigidCylinderCallBack
 from gym_softrobot.utils.render.post_processing import plot_video
+from gym_softrobot.utils.render.base_renderer import BaseRenderer, BaseElasticaRendererSession
 
 
 class BaseSimulator(BaseSystemCollection, Constraints, Connections, Forcing, CallBacks):
@@ -134,6 +137,7 @@ def reset(self):
         # Set Target
         self._target = (2-0.5)*self.np_random.random(2) + 0.5
         #self._target /= np.linalg.norm(self._target) # I don't see why this is here
+        print(self._target)
 
         # Initial State
         state = self.get_state()
@@ -252,29 +256,47 @@ def render(self, mode='human', close=False):
 
         if self.viewer is None:
             from gym_softrobot.utils.render import pyglet_rendering
-            from gym_softrobot.utils.render.povray_rendering import Session
+            self.viewer = pyglet_rendering.SimpleImageViewer(maxwidth=maxwidth)
+
+        if self.renderer is None:
+            # Switch renderer depending on configuration
+            if RENDERER_CONFIG == RendererType.POVRAY:
+                from gym_softrobot.utils.render.povray_renderer import Session
+            elif RENDERER_CONFIG == RendererType.MATPLOTLIB:
+                from gym_softrobot.utils.render.matplotlib_renderer import Session
+            else:
+                raise NotImplementedError("Rendering module is not imported properly")
+            assert issubclass(Session, BaseRenderer), \
+                "Rendering module is not properly subclassed"
+            assert issubclass(Session, BaseElasticaRendererSession), \
+                "Rendering module is not properly subclassed"
             self.viewer = pyglet_rendering.SimpleImageViewer(maxwidth=maxwidth)
             self.renderer = Session(width=maxwidth, height=int(maxwidth*aspect_ratio))
             self.renderer.add_rods([self.shearable_rod]) # TODO: maybe need add_rod instead
-            self.renderer.add_point(self._target.tolist()+[0], 0.05)
-
-        # Temporary rendering to add side-view
-        state_image = self.renderer.render(maxwidth, int(maxwidth*aspect_ratio*0.7))
-        state_image_side = self.renderer.render(
-                maxwidth//2,
-                int(maxwidth*aspect_ratio*0.3),
-                camera_param=('location',[0.0, 0.0, -0.5],'look_at',[0.0,0,0])
-            )
-        state_image_top = self.renderer.render(
-                maxwidth//2,
-                int(maxwidth*aspect_ratio*0.3),
-                camera_param=('location',[0.0, 0.3, 0.0],'look_at',[0.0,0,0])
-            )
-
-        state_image = np.vstack([
-            state_image,
-            np.hstack([state_image_side, state_image_top])
-        ])
+            self.renderer.add_point(self._target.tolist()+[0], 0.02)
+
+        # POVRAY
+        if RENDERER_CONFIG == RendererType.POVRAY:
+            state_image = self.renderer.render(maxwidth, int(maxwidth*aspect_ratio*0.7))
+            state_image_side = self.renderer.render(
+                    maxwidth//2,
+                    int(maxwidth*aspect_ratio*0.3),
+                    camera_param=('location',[0.0, 0.0, -0.5],'look_at',[0.0,0,0])
+                )
+            state_image_top = self.renderer.render(
+                    maxwidth//2,
+                    int(maxwidth*aspect_ratio*0.3),
+                    camera_param=('location',[0.0, 0.3, 0.0],'look_at',[0.0,0,0])
+                )
+
+            state_image = np.vstack([
+                state_image,
+                np.hstack([state_image_side, state_image_top])
+            ])
+        elif RENDERER_CONFIG == RendererType.MATPLOTLIB:
+            state_image = self.renderer.render()
+        else:
+            raise NotImplementedError("Rendering module is not imported properly")
 
         self.viewer.imshow(state_image)
 

gym_softrobot/envs/octopus/build.py

@@ -1,3 +1,7 @@
+__doc__="""
+Module contains elastica interface to create octopus model.
+"""
+
 from typing import Optional, Tuple
 import json
 

gym_softrobot/envs/octopus/flat_3d_env.py

@@ -324,7 +324,7 @@ def render(self, mode='human', close=False):
 
         if self.viewer is None:
             from gym_softrobot.utils.render import pyglet_rendering
-            from gym_softrobot.utils.render.povray_rendering import Session
+            from gym_softrobot.utils.render.povray_renderer import Session
             self.viewer = pyglet_rendering.SimpleImageViewer(maxwidth=maxwidth)
             self.renderer = Session(width=maxwidth, height=maxwidth*3//4)
             self.renderer.add_rods(self.shearable_rods)

gym_softrobot/envs/octopus/flat_env.py

@@ -16,10 +16,13 @@
 from elastica.timestepper import extend_stepper_interface
 from elastica._calculus import _isnan_check
 
+from gym_softrobot import RENDERER_CONFIG
+from gym_softrobot.config import RendererType
 from gym_softrobot.envs.octopus.build import build_octopus
 from gym_softrobot.utils.custom_elastica.callback_func import RodCallBack, RigidCylinderCallBack
 from gym_softrobot.utils.intersection import intersection
 from gym_softrobot.utils.render.post_processing import plot_video
+from gym_softrobot.utils.render.base_renderer import BaseRenderer, BaseElasticaRendererSession
 
 
 class BaseSimulator(BaseSystemCollection, Constraints, Connections, Forcing, CallBacks):
@@ -343,30 +346,47 @@ def render(self, mode='human', close=False):
 
         if self.viewer is None:
             from gym_softrobot.utils.render import pyglet_rendering
-            from gym_softrobot.utils.render.povray_rendering import Session
             self.viewer = pyglet_rendering.SimpleImageViewer(maxwidth=maxwidth)
+
+        if self.renderer is None:
+            # Switch renderer depending on configuration
+            if RENDERER_CONFIG == RendererType.POVRAY:
+                from gym_softrobot.utils.render.povray_renderer import Session
+            elif RENDERER_CONFIG == RendererType.MATPLOTLIB:
+                from gym_softrobot.utils.render.matplotlib_renderer import Session
+            else:
+                raise NotImplementedError("Rendering module is not imported properly")
+            assert issubclass(Session, BaseRenderer), \
+                "Rendering module is not properly subclassed"
+            assert issubclass(Session, BaseElasticaRendererSession), \
+                "Rendering module is not properly subclassed"
             self.renderer = Session(width=maxwidth, height=int(maxwidth*aspect_ratio))
             self.renderer.add_rods(self.shearable_rods)
             self.renderer.add_rigid_body(self.rigid_rod)
             self.renderer.add_point(self._target.tolist()+[0], 0.05)
 
-        # Temporary rendering to add side-view
-        state_image = self.renderer.render(maxwidth, int(maxwidth*aspect_ratio*0.7))
-        state_image_side = self.renderer.render(
-                maxwidth//2,
-                int(maxwidth*aspect_ratio*0.3),
-                camera_param=('location',[0.0, 0.0, -0.5],'look_at',[0.0,0,0])
-            )
-        state_image_top = self.renderer.render(
-                maxwidth//2,
-                int(maxwidth*aspect_ratio*0.3),
-                camera_param=('location',[0.0, 0.3, 0.0],'look_at',[0.0,0,0])
-            )
+        # POVRAY
+        if RENDERER_CONFIG == RendererType.POVRAY:
+            state_image = self.renderer.render(maxwidth, int(maxwidth*aspect_ratio*0.7))
+            state_image_side = self.renderer.render(
+                    maxwidth//2,
+                    int(maxwidth*aspect_ratio*0.3),
+                    camera_param=('location',[0.0, 0.0, -0.5],'look_at',[0.0,0,0])
+                )
+            state_image_top = self.renderer.render(
+                    maxwidth//2,
+                    int(maxwidth*aspect_ratio*0.3),
+                    camera_param=('location',[0.0, 0.3, 0.0],'look_at',[0.0,0,0])
+                )
 
-        state_image = np.vstack([
-            state_image,
-            np.hstack([state_image_side, state_image_top])
-        ])
+            state_image = np.vstack([
+                state_image,
+                np.hstack([state_image_side, state_image_top])
+            ])
+        elif RENDERER_CONFIG == RendererType.MATPLOTLIB:
+            state_image = self.renderer.render()
+        else:
+            raise NotImplementedError("Rendering module is not imported properly")
 
         self.viewer.imshow(state_image)
 

gym_softrobot/envs/snake/continuum_snake.py

@@ -214,7 +214,7 @@ def render(self, mode='human', close=False):
 
         if self.viewer is None:
             from gym_softrobot.utils.render import pyglet_rendering
-            from gym_softrobot.utils.render.povray_rendering import Session
+            from gym_softrobot.utils.render.povray_renderer import Session
             self.viewer = pyglet_rendering.SimpleImageViewer(maxwidth=maxwidth)
             self.renderer = Session(width=maxwidth, height=int(maxwidth*aspect_ratio))
             self.renderer.add_rods(self.shearable_rods)

gym_softrobot/utils/render/base_renderer.py

@@ -0,0 +1,40 @@
+from abc import ABC, abstractmethod
+
+from gym_softrobot.config import RendererType
+
+
+class BaseRenderer(ABC):
+    """
+    Renderer should contains the methods below.
+    """
+
+    @property
+    @abstractmethod
+    def type(self) -> RendererType:
+        pass
+
+    @abstractmethod
+    def render(self):
+        pass
+
+    @abstractmethod
+    def close(self):
+        pass
+
+class BaseElasticaRendererSession(ABC):
+    """
+    Elastica-renderer should contains the methods below
+    """
+
+    @abstractmethod
+    def add_rods(self):
+        pass
+
+    @abstractmethod
+    def add_rigid_body(self):
+        pass
+
+    @abstractmethod
+    def add_point(self):
+        pass
+