migrate to new render API

examples/python/launch_cartpole.py

@@ -48,14 +48,19 @@ def make_env_from_id(env_id: str, **kwargs) -> gym.Env:
     observation = env.reset(seed=42, options={})
 
     # Initialize returned values
+    terminated = False
+    truncated = False
     done = False
     totalReward = 0
 
     while not done:
 
         # Execute a random action
         action = env.action_space.sample()
-        observation, reward, done, _ = env.step(action)
+        observation, reward, terminated, truncated, _ = env.step(action)
+
+        # Check if the episode is terminated
+        done = terminated or truncated
 
         # Render the environment.
         # It is not required to call this in the loop if physics is not randomized.

python/gym_gz/runtimes/gazebo_runtime.py

@@ -46,6 +46,7 @@ def __init__(
         real_time_factor: float,
         physics_engine=scenario.PhysicsEngine_dart,
         world: str = None,
+        render_mode: Optional[str] = None,
         **kwargs,
     ):
 
@@ -69,6 +70,9 @@ def __init__(
         self._world_sdf = world
         self._world_name = None
 
+        # Store the render mode
+        self.render_mode = render_mode
+
         # Create the Task object
         task = task_cls(agent_rate=agent_rate, **kwargs)
 
@@ -132,6 +136,10 @@ def step(self, action: Action) -> State:
         # Check truncation
         truncated = self.task.is_truncated()
 
+        # Render the environment
+        if self.render_mode == "human":
+            self.render()
+
         # Get info
         info = self.task.get_info()
 
@@ -158,10 +166,15 @@ def reset(self, seed: int = None, options : Dict = {}, **kwargs) -> ResetReturn:
             logger.warn("The observation does not belong to the observation space")
         # Get info
         info = self.task.get_info()
-        return ResetReturn((Observation(observation), Info(info))) 
 
-    def render(self, mode: str = "human", **kwargs) -> None:
+        # Render the environment
+        if self.render_mode == "human":
+            self.render()
+
+        return ResetReturn((Observation(observation), Info(info))) 
 
+    def render(self, **kwargs) -> None:
+        mode = self.render_mode
         if mode != "human":
             raise ValueError(f"Render mode '{mode}' not supported")
 

python/gym_gz/runtimes/realtime_runtime.py

@@ -4,7 +4,7 @@
 
 from gym_gz.base import runtime, task
 from gym_gz.utils.typing import Action, Done, Info, Observation, State, Terminated, Truncated, ResetReturn, Dict
-
+from typing import Optional
 
 class RealTimeRuntime(runtime.Runtime):
     """
@@ -15,15 +15,19 @@ class RealTimeRuntime(runtime.Runtime):
         This class is not yet complete.
     """
 
-    def __init__(self, task_cls: type, robot_cls: type, agent_rate: float, **kwargs):
+    def __init__(self, task_cls: type, robot_cls: type, agent_rate: float, render_mode: Optional[str] = None, **kwargs):
 
         # Build the environment
         task_object = task_cls(**kwargs)
 
+        # Check the task
         assert isinstance(
             task_object, task.Task
         ), "'task_cls' object must inherit from Task"
 
+        # Render mode
+        self.render_mode = render_mode
+
         super().__init__(task=task_object, agent_rate=agent_rate)
 
         raise NotImplementedError
@@ -80,7 +84,8 @@ def reset(self, seed: int = None, options : Dict = {}, **kwargs) -> ResetReturn:
 
         return ResetReturn((observation, Info({}))) 
 
-    def render(self, mode: str = "human", **kwargs) -> None:
+    def render(self, **kwargs) -> None:
+        mode = self.render_mode
         raise NotImplementedError
 
     def close(self) -> None:

tests/.python/test_pendulum_wrt_ground_truth.py

@@ -10,8 +10,8 @@
 from gym_gz.robots.sim import gazebo, pybullet
 from gym_gz.tasks.pendulum_swingup import PendulumSwingUp
 from gym_gz.utils import logger
-from gym_gz.utils.typing import Observation, Reward, State, 
-from typing import Dict
+from gym_gz.utils.typing import Observation, Reward, State 
+from typing import Dict, Optional
 
 # Set verbosity
 logger.set_level(gym.logger.DEBUG)
@@ -25,7 +25,7 @@ class PendulumEnv(gym.Env):
 
     metadata = {"render.modes": []}
 
-    def __init__(self):
+    def __init__(self, render_mode: Optional[str] = None):
         super().__init__()
 
         # Check the xacro pendulum model
@@ -37,6 +37,7 @@ def __init__(self):
 
         self.dt = None
         # self.force = None
+        self.render_mode = render_mode
         self.theta = None
         self.theta_dot = None
 
@@ -73,7 +74,8 @@ def reset(self, seed: int = None, options: Dict ={}, **kwargs):
         # Use set_state_from_obs
         pass
 
-    def render(self, mode="human", **kwargs):
+    def render(self, **kwargs):
+        mode = self.render_mode
         raise Exception("This runtime does not support rendering")
 
     def seed(self, seed=None):

tests/test_gym_gz/test_reproducibility.py

@@ -35,8 +35,8 @@ def test_reproducibility(num_physics_rollouts: int):
 
     assert env1 != env2
 
-    env1.seed(42)
-    env2.seed(42)
+    env1.unwrapped.seed(42)
+    env2.unwrapped.seed(42)
 
     for _ in range(5):