Fix rendering for render_mode=human (#56)

* fix human rendering

* add render_mode attr

* add test

* RGBA to RGB

* fix python3.10

* render Move render kwargs to constructor, add renderer arg

* doc

* Fix render docstring

* target pos default handling in render

* fix defaults typo

* Clarify renderer documentation

* update test

* fix doc

* update version

docs/conf.py

@@ -23,7 +23,7 @@
 author = "Quentin Gallouédec"
 
 # The full version, including alpha/beta/rc tags
-release = "v3.0.3"
+release = "v3.0.4"
 
 
 # -- General configuration ---------------------------------------------------

docs/index.rst

@@ -19,6 +19,7 @@ Welcome to ``panda-gym``'s documentation!
 
    usage/environments
    usage/manual_control
+   usage/advanced_rendering
    usage/save_restore_state
    usage/train_with_sb3
 

docs/usage/advanced_rendering.rst

@@ -0,0 +1,75 @@
+.. _advanced_rendering:
+
+Advanced rendering
+==================
+
+Renderer
+--------
+
+There are two render modes available - ``"human"`` and ``"rgb_array"``. The ``"human"`` mode opens a window to display the live scene, while the ``"rgb_array"`` mode renders the scene as an RGB array.
+
+When it comes to renderers, there are two options: OpenGL and Tiny Renderer. The OpenGL engine is used when the render mode is set to ``"human"``. However, when the render mode is set to ``"rgb_array"`` you have the choice between using either the OpenGL or Tiny Renderer engine. The Tiny Renderer can work in headless mode, but it may not produce as high-quality results as the OpenGL engine, particularly in regards to transparency, background and shadows. If headless mode is not a requirement, it is recommended to use the OpenGL engine. To do this, pass ``renderer="OpenGL"`` to the ``gymnasium.make`` function:
+
+.. code-block:: python
+
+    import gymnasium as gym
+    import panda_gym
+
+    env = gym.make("PandaReach-v3", render_mode="rgb_array", renderer="OpenGL")
+    env.reset()
+    image = env.render()  # RGB rendering of shape (480, 720, 3)
+    env.close()
+
+.. |tiny| image:: ../_static/img/tiny.png
+.. |opengl| image:: ../_static/img/opengl.png
+
+.. list-table::
+   :widths: 50 50
+   :header-rows: 1
+   :align: center
+
+   * - ``renderer="Tiny"``
+     - ``renderer="OpenGL"``
+   * - |tiny|
+     - |opengl|
+
+
+Viewpoint
+---------
+
+You can render from a different point of view than the default. For this, the following arguments are available:
+
+- ``render_width`` (int, optional): Image width. Defaults to 720.
+- ``render_height`` (int, optional): Image height. Defaults to 480.
+- ``render_target_position`` (np.ndarray, optional): Camera targetting this postion, as (x, y, z). Defaults to [0., 0., 0.].
+- ``render_distance`` (float, optional): Distance of the camera. Defaults to 1.4.
+- ``render_yaw`` (float, optional): Yaw of the camera. Defaults to 45.
+- ``render_pitch`` (float, optional): Pitch of the camera. Defaults to -30.
+- ``render_roll`` (int, optional): Rool of the camera. Defaults to 0.
+
+Example
+~~~~~~~
+
+.. code-block:: python
+
+    import gymnasium as gym
+    import panda_gym
+
+
+    env = gym.make(
+        "PandaSlide-v3",
+        render_mode="rgb_array",
+        renderer="OpenGL",
+        render_width=480,
+        render_height=480,
+        render_target_position=[0.2, 0, 0],
+        render_distance=1.0,
+        render_yaw=90,
+        render_pitch=-70,
+        render_roll=0,
+    )
+    env.reset()
+    image = env.render()  # RGB rendering of shape (480, 480, 3)
+    env.close()
+
+.. figure:: ../_static/img/top_view.png

panda_gym/envs/core.py

@@ -1,4 +1,3 @@
-import warnings
 from abc import ABC, abstractmethod
 from typing import Any, Dict, Optional, Tuple
 
@@ -201,13 +200,33 @@ class RobotTaskEnv(gym.Env):
     Args:
         robot (PyBulletRobot): The robot.
         task (Task): The task.
+        render_width (int, optional): Image width. Defaults to 720.
+        render_height (int, optional): Image height. Defaults to 480.
+        render_target_position (np.ndarray, optional): Camera targetting this postion, as (x, y, z).
+            Defaults to [0., 0., 0.].
+        render_distance (float, optional): Distance of the camera. Defaults to 1.4.
+        render_yaw (float, optional): Yaw of the camera. Defaults to 45.
+        render_pitch (float, optional): Pitch of the camera. Defaults to -30.
+        render_roll (int, optional): Rool of the camera. Defaults to 0.
     """
 
     metadata = {"render_modes": ["human", "rgb_array"]}
 
-    def __init__(self, robot: PyBulletRobot, task: Task) -> None:
+    def __init__(
+        self,
+        robot: PyBulletRobot,
+        task: Task,
+        render_width: int = 720,
+        render_height: int = 480,
+        render_target_position: Optional[np.ndarray] = None,
+        render_distance: float = 1.4,
+        render_yaw: float = 45,
+        render_pitch: float = -30,
+        render_roll: float = 0,
+    ) -> None:
         assert robot.sim == task.sim, "The robot and the task must belong to the same simulation."
         self.sim = robot.sim
+        self.render_mode = self.sim.render_mode
         self.metadata["render_fps"] = 1 / self.sim.dt
         self.robot = robot
         self.task = task
@@ -226,6 +245,14 @@ def __init__(self, robot: PyBulletRobot, task: Task) -> None:
         self.compute_reward = self.task.compute_reward
         self._saved_goal = dict()  # For state saving and restoring
 
+        self.render_width = render_width
+        self.render_height = render_height
+        self.render_target_position = render_target_position
+        self.render_distance = render_distance
+        self.render_yaw = render_yaw
+        self.render_pitch = render_pitch
+        self.render_roll = render_roll
+
     def _get_obs(self) -> Dict[str, np.ndarray]:
         robot_obs = self.robot.get_obs().astype(np.float32)  # robot state
         task_obs = self.task.get_obs().astype(np.float32)  # object position, velococity, etc...
@@ -291,49 +318,20 @@ def step(self, action: np.ndarray) -> Tuple[Dict[str, np.ndarray], float, bool,
     def close(self) -> None:
         self.sim.close()
 
-    def render(
-        self,
-        width: int = 720,
-        height: int = 480,
-        target_position: Optional[np.ndarray] = None,
-        distance: float = 1.4,
-        yaw: float = 45,
-        pitch: float = -30,
-        roll: float = 0,
-        mode: Optional[str] = None,
-    ) -> Optional[np.ndarray]:
+    def render(self) -> Optional[np.ndarray]:
         """Render.
 
-        If render mode is "rgb_array", return an RGB array of the scene. Else, do nothing.
-
-        Args:
-            width (int, optional): Image width. Defaults to 720.
-            height (int, optional): Image height. Defaults to 480.
-            target_position (np.ndarray, optional): Camera targetting this postion, as (x, y, z).
-                Defaults to [0., 0., 0.].
-            distance (float, optional): Distance of the camera. Defaults to 1.4.
-            yaw (float, optional): Yaw of the camera. Defaults to 45.
-            pitch (float, optional): Pitch of the camera. Defaults to -30.
-            roll (int, optional): Rool of the camera. Defaults to 0.
-            mode (str, optional): Deprecated: This argument is deprecated and will be removed in a future
-                version. Use the render_mode argument of the constructor instead.
+        If render mode is "rgb_array", return an RGB array of the scene. Else, do nothing and return None.
 
         Returns:
             RGB np.ndarray or None: An RGB array if mode is 'rgb_array', else None.
         """
-        if mode is not None:
-            warnings.warn(
-                "The 'mode' argument is deprecated and will be removed in "
-                "a future version. Use the 'render_mode' argument of the constructor instead.",
-                DeprecationWarning,
-            )
-        target_position = target_position if target_position is not None else np.zeros(3)
         return self.sim.render(
-            width=width,
-            height=height,
-            target_position=target_position,
-            distance=distance,
-            yaw=yaw,
-            pitch=pitch,
-            roll=roll,
+            width=self.render_width,
+            height=self.render_height,
+            target_position=self.render_target_position,
+            distance=self.render_distance,
+            yaw=self.render_yaw,
+            pitch=self.render_pitch,
+            roll=self.render_roll,
         )