New Observable: Compass
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@ -10,6 +10,35 @@ from columbus import entities, observables
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import torch as th
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def parseObs(obsConf):
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if type(obsConf) == list:
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obs = []
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for i, c in enumerate(obsConf):
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obs.append(parseObs(c))
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if len(obs) == 1:
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return obs[0]
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else:
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return observables.CompositionalObservable(obs)
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if obsConf['type'] == 'State':
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conf = {k: v for k, v in obsConf.items() if k not in ['type']}
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return observables.StateObservable(conf)
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elif obsConf['type'] == 'Compass':
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conf = {k: v for k, v in obsConf.items() if k not in ['type']}
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return observables.CompassObservable(**conf)
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elif obsConf['type'] == 'RayCast':
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chans = []
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for chan in obsConf.get('chans', []):
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chans.append(getattr(entities, chan))
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conf = {k: v for k, v in obsConf.items() if k not in ['type', 'chans']}
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return observables.RayObservable(chans=chans, **conf)
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elif obsConf['type'] == 'CNN':
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conf = {k: v for k, v in obsConf.items() if k not in ['type']}
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return observables.CnnObservable(**conf)
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else:
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raise Exception('Unknown Observable selected')
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class ColumbusEnv(gym.Env):
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metadata = {'render.modes': ['human']}
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@ -527,6 +556,30 @@ class ColumbusStateWithBarriers(ColumbusEnv):
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self.entities.append(reward)
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class ColumbusCompassWithBarriers(ColumbusEnv):
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def __init__(self, observable=observables.CompassObservable(coordsRewards=True), fps=30, env_seed=3.141, num_enemys=0, num_barriers=3, aux_reward_max=10, **kw):
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super().__init__(
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observable=observable, fps=fps, env_seed=env_seed, aux_reward_max=aux_reward_max, **kw)
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self.start_pos = (0.5, 0.5)
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self.num_barriers = num_barriers
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self.num_enemys = num_enemys
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def setup(self):
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self.agent.pos = self.start_pos
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for i in range(self.num_barriers):
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enemy = entities.CircleBarrier(self)
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enemy.radius = self.random()*25+75
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self.entities.append(enemy)
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for i in range(self.num_enemys):
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enemy = entities.FlyingChaser(self)
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enemy.chase_acc = 0.55 # *0.6+0.5
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self.entities.append(enemy)
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for i in range(1):
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reward = entities.TeleportingReward(self)
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reward.radius = 30
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self.entities.append(reward)
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class ColumbusTrivialRay(ColumbusStateWithBarriers):
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def __init__(self, observable=observables.RayObservable(num_rays=8, ray_len=512), hide_map=False, fps=30, **kw):
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super(ColumbusTrivialRay, self).__init__(
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@ -558,32 +611,6 @@ class ColumbusFootball(ColumbusEnv):
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self.entities.append(entities.FlyingFootballPlayer(self, ball))
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def parseObs(obsConf):
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if type(obsConf) == list:
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obs = []
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for i, c in enumerate(obsConf):
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obs.append(parseObs(c))
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if len(obs) == 1:
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return obs[0]
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else:
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return observables.CompositionalObservable(obs)
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if obsConf['type'] == 'State':
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conf = {k: v for k, v in obsConf.items() if k not in ['type']}
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return observables.StateObservable(conf)
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elif obsConf['type'] == 'RayCast':
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chans = []
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for chan in obsConf.get('chans', []):
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chans.append(getattr(entities, chan))
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conf = {k: v for k, v in obsConf.items() if k not in ['type', 'chans']}
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return observables.RayObservable(chans=chans, **conf)
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elif obsConf['type'] == 'CNN':
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conf = {k: v for k, v in obsConf.items() if k not in ['type']}
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return observables.CnnObservable(**conf)
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else:
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raise Exception('Unknown Observable selected')
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class ColumbusConfigDefined(ColumbusEnv):
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def __init__(self, observable={}, env_seed=None, entities=[], fps=30, **kw):
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super().__init__(
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@ -673,6 +700,12 @@ register(
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max_episode_steps=30*60*2,
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)
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register(
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id='ColumbusCompassWithBarriers-v0',
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entry_point=ColumbusCompassWithBarriers,
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max_episode_steps=30*60*2,
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)
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register(
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id='ColumbusTrivialRay-v0',
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entry_point=ColumbusTrivialRay,
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@ -265,6 +265,71 @@ class StateObservable(Observable):
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(x*self.env.width+ofs[1], 0), 1, width=0)
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class CompassObservable(Observable):
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def __init__(self, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=False, enemysWhitelist=None, enemysNoBarriers=True):
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super().__init__()
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self._entities = None
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self._timeoutEntities = []
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self.coordRewards = coordsRewards
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self.rewardsWhitelist = rewardsWhitelist
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self.coordsEnemys = coordsEnemys
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self.enemysWhitelist = enemysWhitelist
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self.enemysNoBarriers = enemysNoBarriers
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@property
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def entities(self):
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if not self._entities == None:
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return self._entities
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rewardsWhitelist = self.rewardsWhitelist or self.env.entities
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enemysWhitelist = self.enemysWhitelist or self.env.entities
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self._entities = []
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if self.coordRewards:
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for entity in rewardsWhitelist:
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if isinstance(entity, entities.Reward):
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self._entities.append(entity)
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if self.coordsEnemys:
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for entity in enemysWhitelist:
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if isinstance(entity, entities.Enemy):
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if not self.enemysNoBarriers or not isinstance(entity, entities.Barrier):
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self._entities.append(entity)
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return self._entities
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def get_observation_space(self):
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self.env.reset()
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num = len(self.entities)*2
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return spaces.Box(low=-1, high=1,
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shape=(num,), dtype=np.float32)
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def get_observation(self):
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obs = []
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for entity in self.entities:
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dx, dy = entity.pos[0] - \
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self.env.agent.pos[0], entity.pos[1] - self.env.agent.pos[1]
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l = math.sqrt(dx**2 + dy**2)*2
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x, y = math.tanh(dx/l), math.tanh(dy/l)
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obs.append(x)
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obs.append(y)
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self.obs = obs
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return np.array(obs)
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def draw(self):
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ofs = (0 + self.env.height/2,
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0 + self.env.width/2)
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if True:
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pygame.draw.circle(self.env.screen, self.env.agent.col,
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(0, self.env.height/2), 3, width=0)
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pygame.draw.circle(self.env.screen, self.env.agent.col,
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(self.env.width/2, 0), 3, width=0)
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for i in range(int(len(self.obs)/2)):
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x, y = self.obs[i*2], self.obs[i*2+1]
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col = self.entities[i].col
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pygame.draw.circle(self.env.screen, col,
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(0, y*self.env.height+ofs[0]), 1, width=0)
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pygame.draw.circle(self.env.screen, col,
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(x*self.env.width+ofs[1], 0), 1, width=0)
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class CompositionalObservable(Observable):
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def __init__(self, observables):
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super().__init__()
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