DI-engine/ding/utils/render_helper.py

from typing import TYPE_CHECKING, Optional
from numpy import ndarray

if TYPE_CHECKING:
    from ding.envs import BaseEnv, BaseEnvManager


def render_env(env, render_mode: Optional[str] = 'rgb_array') -> "ndarray":
    """
    Overview:
        Render the environment's current frame.
    Arguments:
        - env (:obj:`gym.Env`): DI-engine env instance.
        - render_mode (:obj:`str`): Render mode.
    Returns:
        - frame (:obj:`numpy.ndarray`): [H * W * C]
    """
    if hasattr(env, 'sim'):
        # mujoco: mujoco frame is unside-down by default
        return env.sim.render(camera_name='track', height=128, width=128)[::-1]
    else:
        # other envs
        return env.render(mode=render_mode)


def render(env: "BaseEnv", render_mode: Optional[str] = 'rgb_array') -> "ndarray":
    """
    Overview:
        Render the environment's current frame.
    Arguments:
        - env (:obj:`BaseEnv`): DI-engine env instance.
        - render_mode (:obj:`str`): Render mode.
    Returns:
        - frame (:obj:`numpy.ndarray`): [H * W * C]
    """
    gym_env = env._env
    return render_env(gym_env, render_mode=render_mode)


def get_env_fps(env) -> "int":
    """
    Overview:
        Get the environment's fps.
    Arguments:
        - env (:obj:`gym.Env`): DI-engine env instance.
    Returns:
        - fps (:obj:`int`).
    """

    if hasattr(env, 'model'):
        # mujoco
        fps = 1 / env.model.opt.timestep
    elif hasattr(env, 'env') and 'video.frames_per_second' in env.env.metadata.keys():
        # classic control
        fps = env.env.metadata['video.frames_per_second']
    else:
        # atari and other envs
        fps = 30
    return fps


def fps(env_manager: "BaseEnvManager") -> "int":
    """
    Overview:
        Render the environment's fps.
    Arguments:
        - env (:obj:`BaseEnvManager`): DI-engine env manager instance.
    Returns:
        - fps (:obj:`int`).
    """
    try:
        # env_ref is a ding gym environment
        gym_env = env_manager.env_ref._env
        return get_env_fps(gym_env)
    except:
        return 30