More control over offscreen dimensions and scene geometries

[guyazran]

Description

Offscreen Renderers do not allow control of viewer dimensions or the maximum number of geometries in the scene. We fix this issue with minimal implementation to address #730. This is motivated by the need to have multiple renderers at different resolutions and to render cluttered scenes

Fixes #730

Type of change

• New feature (non-breaking change which adds functionality)

Checklist:

• I have run the pre-commit checks with pre-commit run --all-files (see CONTRIBUTING.md instructions to set it up)
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation (none required)
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing unit tests pass locally with my changes

[pseudo-rnd-thoughts]

@guyazran Thanks for the PR
@Kallinteris-Andreas This looks good to me, are you happy for me to merge?

[Kallinteris-Andreas]

also need to add max_geom args to

Gymnasium/gymnasium/envs/mujoco/mujoco_env.py

Lines 345 to 359 in 54d2ba7

	def __init__(
	self,
	model_path,
	frame_skip,
	observation_space: Space,
	render_mode: Optional[str] = None,
	width: int = DEFAULT_SIZE,
	height: int = DEFAULT_SIZE,
	camera_id: Optional[int] = None,
	camera_name: Optional[str] = None,
	default_camera_config: Optional[Dict[str, Union[float, int]]] = None,
	):
	if MUJOCO_IMPORT_ERROR is not None:
	raise error.DependencyNotInstalled(

and

Gymnasium/gymnasium/envs/mujoco/mujoco_env.py

Lines 377 to 379 in 54d2ba7

	self.mujoco_renderer = MujocoRenderer(
	self.model, self.data, default_camera_config, self.width, self.height
	)

[guyazran]

@Kallinteris-Andreas I have addressed all of your comments in my latest push (4 commits). all tests and pre-commits pass

[guyazran]

added another commit to use the actual DEFAULT_SIZE value from the mujoco_env module in my new tests. no need for my redundant defaults.

[Kallinteris-Andreas]

Summary of the changes this PR adds:

• max_geom argument for mujocoEnv & MujocoRenderer
• a test for MuJoCo rendering
• a few extra comments

Note: does not add "More control over offscreen dimensions" unlike what the title says, since that functionality was already present

TODO (after this PR): add support for multi-camera rendering to fix #730 (I will do that)

@guyazran thanks
@pseudo-rnd-thoughts merge

[pseudo-rnd-thoughts]

Could you also look at the ignored errors

Exception ignored in: <function WindowViewer.__del__ at 0x7f8f90ce4c10>
Traceback (most recent call last):
  File "/usr/local/gymnasium/gymnasium/envs/mujoco/mujoco_rendering.py", line 356, in __del__
  File "/usr/local/gymnasium/gymnasium/envs/mujoco/mujoco_rendering.py", line 349, in free
AttributeError: 'NoneType' object has no attribute 'get_current_context'
Exception ignored in: <function WindowViewer.__del__ at 0x7f8f90ce4c10>
Traceback (most recent call last):
  File "/usr/local/gymnasium/gymnasium/envs/mujoco/mujoco_rendering.py", line 356, in __del__
  File "/usr/local/gymnasium/gymnasium/envs/mujoco/mujoco_rendering.py", line 349, in free
AttributeError: 'NoneType' object has no attribute 'get_current_context'
Exception ignored in: <function WindowViewer.__del__ at 0x7f8f90ce4c10>
Traceback (most recent call last):
  File "/usr/local/gymnasium/gymnasium/envs/mujoco/mujoco_rendering.py", line 356, in __del__
  File "/usr/local/gymnasium/gymnasium/envs/mujoco/mujoco_rendering.py", line 349, in free
AttributeError: 'NoneType' object has no attribute 'get_current_context'
Exception ignored in: <function WindowViewer.__del__ at 0x7f8f90ce4c10>
Traceback (most recent call last):
  File "/usr/local/gymnasium/gymnasium/envs/mujoco/mujoco_rendering.py", line 356, in __del__
  File "/usr/local/gymnasium/gymnasium/envs/mujoco/mujoco_rendering.py", line 349, in free
AttributeError: 'NoneType' object has no attribute 'get_current_context'

[guyazran]

like I said in a previous note, by removing the optional width and height we cannot create a MujocoRenderer object for offscreen rendering. Still, I forgot to consider this in my own tests. fixed in f8ae8f4

[guyazran]

the ignored exceptions mentioned by @pseudo-rnd-thoughts here are still present. I don't why they are occurring and I am not able to reproduce them on my local machine. I'm going to wildly guess that this is because I didn't close the viewers after usage. I address this in 89db1c3

[guyazran]

according to the workflows running in my fork, the ignored exceptions are now gone.

[guyazran]

Is there a reason the change is not being merged? Are there any other issues I need to fix?

[pseudo-rnd-thoughts]

Apologies, I completely forgot about it, merging now