Python glfw.destroy_window() Examples

def sample_sawyer_push_multiobj():
    env = SawyerTwoObjectEnv()
    env.reset()
    for _ in range(50):
        env.render()
        env.step(env.action_space.sample())
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_window_open():
    env = SawyerWindowOpenEnv()
    env.reset()
    for _ in range(100):
        env.render()
        env.step(np.array([1, 0, 0, 1]))
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_window_close():
    env = SawyerWindowCloseEnv()
    env.reset()
    for _ in range(100):
        env.render()
        env.step(np.array([1, 0, 0, 1]))
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_throw():
    env = SawyerThrowEnv()
    for i in range(1000):
        if i % 100 == 0:
            env.reset()
        env.step(np.array([0, 0, 0, 1]))
        env.render()
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_sweep_into_goal():
    env = SawyerSweepIntoGoalEnv(fix_goal=True)
    for i in range(1000):
        if i % 100 == 0:
            env.reset()
        env.step(np.array([0, 1, 1]))
        env.render()
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_sweep():
    env = SawyerSweepEnv(fix_goal=True)
    for i in range(200):
        if i % 100 == 0:
            env.reset()
        env.step(env.action_space.sample())
        env.render()
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_stick_pull():
    env = SawyerStickPullEnv()
    env.reset()
    for _ in range(100):
        env.render()
        env.step(env.action_space.sample())
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_stack():
    env = SawyerStackEnv()
    env.reset()
    for _ in range(50):
        env.render()
        env.step(env.action_space.sample())
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_shelf_place():
    env = SawyerShelfPlaceEnv()
    env.reset()
    for _ in range(100):
        env.render()
        env.step(env.action_space.sample())
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_rope():
    env = SawyerRopeEnv()
    env.reset()
    for _ in range(50):
        env.render()
        env.step(env.action_space.sample())
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_reach_push_pick_place():
    env = SawyerReachPushPickPlaceEnv()
    for i in range(100):
        if i % 100 == 0:
            env.reset()
        env.step(np.array([0, 1, 1]))
        env.render()
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_reach():
    env = SawyerReachXYZEnv()
    for i in range(100):
        if i % 100 == 0:
            env.reset()
        env.step(np.array([0, 1, 1]))
        env.render()
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_push_nips():
    env = SawyerPushAndReachXYEasyEnv()
    for _ in range(100):
        env.render()
        env.step(env.action_space.sample())
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def close(self):
        """
        Destroys the open window and renders (pun intended) the viewer useless.
        """
        glfw.destroy_window(self.viewer.window)
        self.viewer = None 

def sample_sawyer_push_multiobj():
    env = SawyerTwoObjectEnv()
    for _ in range(100):
        env.render()
        env.step(np.array([0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5]))
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_push_and_reach_two_pucks():
    env = SawyerPushAndReachXYZDoublePuckEnv()
    env.reset()
    for i in range(100):
        env.render()
        env.set_goal({'state_desired_goal': np.array([1, 1, 1, 1, 1, 1, 1])})
        env.step(env.action_space.sample())
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_pick_and_place_wsg():
    env = SawyerPickAndPlaceWsgEnv()
    env.reset()
    for _ in range(100):
        env.render()
        env.step(np.array([0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5]))
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_pick_and_place():
    env = SawyerPickAndPlaceEnv()
    env.reset()
    for _ in range(50):
        env.render()
        env.step(env.action_space.sample())
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def sample_sawyer_pick_and_place():
    env = SawyerPickAndPlaceEnv()
    env.reset()
    for _ in range(200):
        env.render()
        env.step(env.action_space.sample())
        time.sleep(0.05)
    glfw.destroy_window(env.viewer.window) 

def close(env):
    if env.viewer is not None:
        # self.viewer.finish()
        glfw.destroy_window(env.viewer.window)
    env.viewer = None 

def close(self):
        if self.viewer is not None:
            glfw.destroy_window(self.viewer.window)
            self.viewer = None 

def dispose_gl(self):
        if self.window:
            glfw.make_context_current(self.window)
            if self.renderer:
                self.renderer.dispose_gl()
        glfw.destroy_window(self.window)
        glfw.terminate()
        self._is_initialized = False 

def stop(self):
        if self.viewer is not None:
            v = self.viewer
            self.viewer = None
            glfw.destroy_window(v.window)
            del v 

def _close_mjviewer_window(self):
        """
        Close the MjViewer window.

        Unfortunately, the gym environments using MuJoCo don't close the viewer
        windows properly, which leads to "out of memory" issues when several
        of these environments are tested one after the other.
        This method searches for the viewer object of type MjViewer, and if the
        environment is wrapped in other environment classes, it performs depth
        search in those as well.
        This method can be removed once OpenAI solves the issue.
        """
        if self.env.spec:
            if any(package in self.env.spec._entry_point
                   for package in KNOWN_GYM_NOT_CLOSE_VIEWER):
                # This import is not in the header to avoid a MuJoCo dependency
                # with non-MuJoCo environments that use this base class.
                from mujoco_py.mjviewer import MjViewer
                if (hasattr(self.env, "viewer")
                        and isinstance(self.env.viewer, MjViewer)):
                    glfw.destroy_window(self.env.viewer.window)
                else:
                    env_itr = self.env
                    while hasattr(env_itr, "env"):
                        env_itr = env_itr.env
                        if (hasattr(env_itr, "viewer")
                                and isinstance(env_itr.viewer, MjViewer)):
                            glfw.destroy_window(env_itr.viewer.window)
                            break 

def _close_viewer_window(self):
        """Close viewer window.

        Unfortunately, some gym environments don't close the viewer windows
        properly, which leads to "out of memory" issues when several of
        these environments are tested one after the other.
        This method searches for the viewer object of type MjViewer, Viewer
        or SimpleImageViewer, based on environment, and if the environment
        is wrapped in other environment classes, it performs depth search
        in those as well.
        This method can be removed once OpenAI solves the issue.
        """
        # We need to do some strange things here to fix-up flaws in gym
        # pylint: disable=import-outside-toplevel
        if self.env.spec:
            if any(package in getattr(self.env.spec, 'entry_point', '')
                   for package in KNOWN_GYM_NOT_CLOSE_MJ_VIEWER):
                # This import is not in the header to avoid a MuJoCo dependency
                # with non-MuJoCo environments that use this base class.
                try:
                    from mujoco_py.mjviewer import MjViewer
                    import glfw
                except ImportError:
                    # If we can't import mujoco_py, we must not have an
                    # instance of a class that we know how to close here.
                    return
                if (hasattr(self.env, 'viewer')
                        and isinstance(self.env.viewer, MjViewer)):
                    glfw.destroy_window(self.env.viewer.window)
            elif any(package in getattr(self.env.spec, 'entry_point', '')
                     for package in KNOWN_GYM_NOT_CLOSE_VIEWER):
                if hasattr(self.env, 'viewer'):
                    from gym.envs.classic_control.rendering import (
                        Viewer, SimpleImageViewer)
                    if (isinstance(self.env.viewer,
                                   (SimpleImageViewer, Viewer))):
                        self.env.viewer.close()