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import numpy as np
from gym.wrappers.monitoring.video_recorder import VideoRecorder
from stable_baselines3.common.vec_env.base_vec_env import (
VecEnv,
VecEnvStepReturn,
VecEnvWrapper,
VecEnvObs,
)
from typing import Optional
class VecSingleImageWrapper(VecEnvWrapper):
def __init__(self, venv: VecEnv):
super().__init__(venv)
def render(self, mode: str = "human") -> Optional[np.ndarray]:
images = self.venv.get_images()
return images[0]
def step_wait(self) -> VecEnvStepReturn:
return self.venv.step_wait()
def reset(self) -> VecEnvObs:
return self.venv.reset()
class VecSingleRecorder(VecEnvWrapper):
def __init__(
self,
venv: VecEnv,
video_path_prefix: str,
video_step_interval: int = 1_000_000,
max_video_length: int = 3600,
):
super().__init__(venv)
self.single_image_wrapper = VecSingleImageWrapper(venv)
self.video_path_prefix = video_path_prefix
self.video_step_interval = video_step_interval
self.max_video_length = max_video_length
self.total_steps = 0
self.next_record_video_step = 0
self.video_recorder = None
self.recorded_frames = 0
def step_wait(self) -> VecEnvStepReturn:
obs, rew, dones, infos = self.venv.step_wait()
self.total_steps += self.venv.num_envs
# 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()
elif dones[0] and self.total_steps >= self.next_record_video_step:
self._start_video_recorder()
return obs, rew, dones, infos
def reset(self) -> VecEnvObs:
obs = self.venv.reset()
if self.video_recorder:
self._close_video_recorder()
elif (
not self.video_recorder and self.total_steps >= self.next_record_video_step
):
self._start_video_recorder()
return obs
def _start_video_recorder(self) -> None:
self._close_video_recorder()
video_path = f"{self.video_path_prefix}-{self.next_record_video_step}"
self.video_recorder = VideoRecorder(
self.single_image_wrapper,
base_path=video_path,
metadata={"step": self.total_steps},
)
self.video_recorder.capture_frame()
self.recorded_frames = 1
self.next_record_video_step += self.video_step_interval
def _close_video_recorder(self) -> None:
if self.video_recorder:
self.video_recorder.close()
self.video_recorder = None
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