fix: Improve LunarLander-v2 step performance by >1.5x (#170) (#235)

Farama-Foundation · Jan 3, 2023 · 5d67eae · 5d67eae
1 parent 78b50ff
commit 5d67eae
Showing 1 changed file with 16 additions and 11 deletions.
diff --git a/gymnasium/envs/box2d/lunar_lander.py b/gymnasium/envs/box2d/lunar_lander.py
@@ -508,17 +508,22 @@ def step(self, action):
             ox = tip[0] * (4 / SCALE + 2 * dispersion[0]) + side[0] * dispersion[1]
             oy = -tip[1] * (4 / SCALE + 2 * dispersion[0]) - side[1] * dispersion[1]
             impulse_pos = (self.lander.position[0] + ox, self.lander.position[1] + oy)
-            p = self._create_particle(
-                3.5,  # 3.5 is here to make particle speed adequate
-                impulse_pos[0],
-                impulse_pos[1],
-                m_power,
-            )  # particles are just a decoration
-            p.ApplyLinearImpulse(
-                (ox * MAIN_ENGINE_POWER * m_power, oy * MAIN_ENGINE_POWER * m_power),
-                impulse_pos,
-                True,
-            )
+            if self.render_mode is not None:
+                # particles are just a decoration, so don't add them when not rendering
+                p = self._create_particle(
+                    3.5,  # 3.5 is here to make particle speed adequate
+                    impulse_pos[0],
+                    impulse_pos[1],
+                    m_power,
+                )
+                p.ApplyLinearImpulse(
+                    (
+                        ox * MAIN_ENGINE_POWER * m_power,
+                        oy * MAIN_ENGINE_POWER * m_power,
+                    ),
+                    impulse_pos,
+                    True,
+                )
             self.lander.ApplyLinearImpulse(
                 (-ox * MAIN_ENGINE_POWER * m_power, -oy * MAIN_ENGINE_POWER * m_power),
                 impulse_pos,