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Added new Environment, that is highy customizable via args

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dodox
2022-08-17 19:31:15 +02:00
parent 5db17f7bc9
commit 9a40ee07b7
3 changed files with 118 additions and 34 deletions
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columbus/observables.py
+16 -8
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@@ -3,6 +3,7 @@ import numpy as np
import pygame
import math
from columbus import entities
import torch as th
class Observable():
@@ -41,7 +42,7 @@ class CnnObservable(Observable):
def get_observation_space(self):
return spaces.Box(low=0, high=255,
shape=(self.out_width, self.out_height, 3), dtype=np.uint8)
shape=(self.out_width, self.out_height, 3), dtype=np.float32)
def get_observation(self):
if not self.env._rendered:
@@ -109,7 +110,7 @@ class RayObservable(Observable):
for entity in entities_l:
if isinstance(entity, entity_type) or (self.env.void_barrier and isinstance(entity, entities.Void) and entity_type == entities.Enemy):
if isinstance(entity, entities.Void):
if 0 >= pos[0] or pos[0] >= self.env.width or 0 >= pos[1] or pos[1] >= self.env.width:
if not self.env.torus_topology and (0 >= pos[0] or pos[0] >= self.env.width or 0 >= pos[1] or pos[1] >= self.env.width):
return True
else:
if entity.shape != 'circle':
@@ -147,6 +148,8 @@ class RayObservable(Observable):
rx, ry = sx + \
self.env.agent.pos[0]*self.env.width, sy + \
self.env.agent.pos[1]*self.env.height
if self.env.torus_topology:
rx, ry = rx % self.env.width, ry % self.env.height
if self._check_collision((rx, ry), entity_type, entities):
self.rays[r, c] = (self.num_steps-s)/self.num_steps
if self.occlusion:
@@ -162,6 +165,8 @@ class RayObservable(Observable):
rx, ry = sx + \
self.env.agent.pos[0]*self.env.width, sy + \
self.env.agent.pos[1]*self.env.height
if self.env.torus_topology:
rx, ry = rx % self.env.width, ry % self.env.height
# TODO: How stupid do I want to code?
# This instanciates an Object for every Ray-hit,
# just to get the color for the visual.
@@ -273,8 +278,11 @@ class CompositionalObservable(Observable):
for i, obs in enumerate(self.observables):
space = obs.get_observation_space()
num += math.prod(space.shape)
low = min(low, float(space.low[0].item()))
high = max(high, float(space.high[0].item()))
try: # TODO: lol
low = min(low, float(space.low[0].item()))
high = max(high, float(space.high[0].item()))
except:
pass
if False:
if not i:
low = space.low
@@ -286,9 +294,9 @@ class CompositionalObservable(Observable):
shape=(num,), dtype=np.float32)
def get_observation(self):
o = [float(point)
for obs in self.observables for point in obs.get_observation()]
o = np.array(o)
o = [th.reshape(th.Tensor(obs.get_observation()), (-1,))
for obs in self.observables]
o = th.hstack(o)
return o
def draw(self):
@@ -296,6 +304,6 @@ class CompositionalObservable(Observable):
obs.draw()
def _set_env(self, env):
#self.env = env
# self.env = env
for obs in self.observables:
obs._set_env(env)