[Docs] Add Gif (galilai-group#140)

* update docs

* add gif

Author: lucas-maes

README.md

@@ -43,6 +43,24 @@ results = world.evaluate(episodes=50)
 print(f"Success Rate: {results['success_rate']:.1f}%")
 ```
 
+## Supported Environments
+
+| Environment | Normal | Variations |
+|:-----------:|:------:|:----------:|
+| **Cheetah** | <img src="docs/assets/cheetah.gif" width="200"> | <img src="docs/assets/cheetah_var.gif" width="200"> |
+| **Hopper** | <img src="docs/assets/hopper.gif" width="200"> | <img src="docs/assets/hopper_var.gif" width="200"> |
+| **Walker** | <img src="docs/assets/walker.gif" width="200"> | <img src="docs/assets/walker_var.gif" width="200"> |
+| **Quadruped** | <img src="docs/assets/quadruped.gif" width="200"> | <img src="docs/assets/quadruped_var.gif" width="200"> |
+| **Reacher** | <img src="docs/assets/reacher.gif" width="200"> | <img src="docs/assets/reacher_var.gif" width="200"> |
+| **Pendulum** | <img src="docs/assets/pendulum.gif" width="200"> | <img src="docs/assets/pendulum_var.gif" width="200"> |
+| **Cartpole** | <img src="docs/assets/cartpole.gif" width="200"> | <img src="docs/assets/cartpole_var.gif" width="200"> |
+| **Ball in Cup** | <img src="docs/assets/ballincup.gif" width="200"> | <img src="docs/assets/ballincup_var.gif" width="200"> |
+| **Finger** | <img src="docs/assets/finger.gif" width="200"> | <img src="docs/assets/finger_var.gif" width="200"> |
+| **Push-T** | <img src="docs/assets/pusht.gif" width="200"> | <img src="docs/assets/pusht_fov.gif" width="200"> |
+| **Two-Room** | <img src="docs/assets/tworoom.gif" width="200"> | <img src="docs/assets/tworoom_fov.gif" width="200"> |
+| **OGB Cube** | <img src="docs/assets/cube.gif" width="200"> | <img src="docs/assets/cube_fov.gif" width="200"> |
+| **OGB Scene** | <img src="docs/assets/scene.gif" width="200"> | <img src="docs/assets/scene_fov.gif" width="200"> |
+
 ## Contributing
 
 Setup your codebase:

debug.py

@@ -0,0 +1,65 @@
+import os
+
+os.environ['MUJOCO_GL'] = 'egl'
+
+import stable_worldmodel as swm
+from stable_worldmodel.envs.dmcontrol import ExpertPolicy
+
+
+# record gif
+
+
+ENVS = {
+    'swm/CartpoleDMControl-v0': ('cartpole',),
+    'swm/WalkerDMControl-v0': ('walker',),
+    'swm/QuadrupedDMControl-v0': ('quadruped',),
+    'swm/BallInCupDMControl-v0': ('ballincup',),
+    # 'swm/AcrobotDMControl-v0': ('acrobot',),
+    'swm/FingerDMControl-v0': ('finger',),
+    'swm/HopperDMControl-v0': ('hopper',),
+    # 'swm/HumanoidDMControl-v0': ('humanoid',),
+    # 'swm/ManipulatorDMControl-v0': ('manipulator',),
+    'swm/CheetahDMControl-v0': ('cheetah',),
+    'swm/ReacherDMControl-v0': ('reacher',),
+    'swm/PendulumDMControl-v0': ('pendulum',),
+}
+
+for env_name, (expert_name,) in ENVS.items():
+    world = swm.World(
+        env_name,
+        num_envs=3,
+        image_shape=(224, 224),
+        max_episode_steps=500,
+    )
+
+    option_names = [
+        name
+        for name in world.single_variation_space.names()
+        if 'color' in name
+    ]
+
+    world.set_policy(
+        ExpertPolicy(
+            ckpt_path=f'../stable-expert/models/sac_dmcontrol/{expert_name}/expert_policy.zip',
+            vec_normalize_path=f'../stable-expert/models/sac_dmcontrol/{expert_name}/vec_normalize.pkl',
+            noise_std=0.3,
+            device='cuda',
+        )
+    )
+
+    os.makedirs(f'./dmc/normal/{expert_name}_expert/', exist_ok=True)
+    world.record_video(
+        f'./dmc/normal/{expert_name}_expert/',
+        max_steps=500,
+        fps=24,
+        extension='gif',
+    )
+
+    os.makedirs(f'./dmc/var/{expert_name}_expert/', exist_ok=True)
+    world.record_video(
+        f'./dmc/var/{expert_name}_expert/',
+        max_steps=500,
+        fps=24,
+        extension='gif',
+        options={'variation': option_names},
+    )