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import numpy as np
from gym.vector.sync_vector_env import SyncVectorEnv
from gym.wrappers.monitoring.video_recorder import VideoRecorder
from stable_baselines3.common.vec_env.base_vec_env import tile_images
from typing import Optional
from wrappers.vectorable_wrapper import (
VecotarableWrapper,
VecEnvObs,
VecEnvStepReturn,
)
class VecEpisodeRecorder(VecotarableWrapper):
def __init__(self, env, base_path: str, max_video_length: int = 3600):
super().__init__(env)
self.base_path = base_path
self.max_video_length = max_video_length
self.video_recorder = None
self.recorded_frames = 0
def step(self, actions: np.ndarray) -> VecEnvStepReturn:
obs, rew, dones, infos = self.env.step(actions)
# Using first env to record episodes
if self.video_recorder:
self.video_recorder.capture_frame()
self.recorded_frames += 1
if dones[0] and infos[0].get("episode"):
episode_info = {
k: v.item() if hasattr(v, "item") else v
for k, v in infos[0]["episode"].items()
}
self.video_recorder.metadata["episode"] = episode_info
if dones[0] or self.recorded_frames > self.max_video_length:
self._close_video_recorder()
return obs, rew, dones, infos
def reset(self) -> VecEnvObs:
obs = self.env.reset()
self._start_video_recorder()
return obs
def _start_video_recorder(self) -> None:
self._close_video_recorder()
self.video_recorder = VideoRecorder(
SyncVectorEnvRenderCompat(self.env),
base_path=self.base_path,
)
self.video_recorder.capture_frame()
self.recorded_frames = 1
def _close_video_recorder(self) -> None:
if self.video_recorder:
self.video_recorder.close()
self.video_recorder = None
class SyncVectorEnvRenderCompat(VecotarableWrapper):
def __init__(self, env) -> None:
super().__init__(env)
def render(self, mode: str = "human") -> Optional[np.ndarray]:
base_env = self.env.unwrapped
if isinstance(base_env, SyncVectorEnv):
imgs = [env.render(mode="rgb_array") for env in base_env.envs]
bigimg = tile_images(imgs)
if mode == "humnan":
import cv2
cv2.imshow("vecenv", bigimg[:, :, ::-1])
cv2.waitKey(1)
elif mode == "rgb_array":
return bigimg
else:
raise NotImplemented(f"Render mode {mode} is not supported")
else:
return self.env.render(mode=mode)
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