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Draw paths and 'terminate_on_reward'

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Dominik Moritz Roth 2022-09-20 21:57:41 +02:00
parent fd69dd4a5f
commit a02878c5ab
1 changed files with 9 additions and 2 deletions
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11
columbus/env.py
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@ -45,7 +45,7 @@ def parseObs(obsConf):
class ColumbusEnv(gym.Env): class ColumbusEnv(gym.Env):
metadata = {'render.modes': ['human']} metadata = {'render.modes': ['human']}
def __init__(self, observable=observables.Observable(), fps=60, env_seed=3.1, master_seed=None, start_pos=(0.5, 0.5), start_score=0, speed_fac=0.01, acc_fac=0.04, die_on_zero=False, return_on_score=-1, reward_mult=1, agent_drag=0, controll_type='SPEED', aux_reward_max=1, aux_penalty_max=0, aux_reward_discretize=0, void_is_type_barrier=True, void_damage=1, torus_topology=False, default_collision_elasticity=1): def __init__(self, observable=observables.Observable(), fps=60, env_seed=3.1, master_seed=None, start_pos=(0.5, 0.5), start_score=0, speed_fac=0.01, acc_fac=0.04, die_on_zero=False, return_on_score=-1, reward_mult=1, agent_drag=0, controll_type='SPEED', aux_reward_max=1, aux_penalty_max=0, aux_reward_discretize=0, void_is_type_barrier=True, void_damage=1, torus_topology=False, default_collision_elasticity=1, terminate_on_reward=False, agent_draw_path=False):
super(ColumbusEnv, self).__init__() super(ColumbusEnv, self).__init__()
self.action_space = spaces.Box( self.action_space = spaces.Box(
low=-1, high=1, shape=(2,), dtype=np.float32) low=-1, high=1, shape=(2,), dtype=np.float32)
@ -89,6 +89,8 @@ class ColumbusEnv(gym.Env):
self.void_damage = void_damage self.void_damage = void_damage
self.torus_topology = torus_topology self.torus_topology = torus_topology
self.default_collision_elasticity = default_collision_elasticity self.default_collision_elasticity = default_collision_elasticity
self.terminate_on_reward = terminate_on_reward
self.agent_draw_path = agent_draw_path
self.paused = False self.paused = False
self.keypress_timeout = 0 self.keypress_timeout = 0
@ -121,6 +123,8 @@ class ColumbusEnv(gym.Env):
def _ensure_surface(self): def _ensure_surface(self):
if not self.surface or not self.screen: if not self.surface or not self.screen:
self.surface = pygame.Surface((self.width, self.height)) self.surface = pygame.Surface((self.width, self.height))
self.path_overlay = pygame.Surface(
(self.width, self.height), pygame.SRCALPHA, 32)
if self.visible: if self.visible:
self.screen = pygame.display.set_mode( self.screen = pygame.display.set_mode(
(self.width, self.height)) (self.width, self.height))
@ -200,6 +204,7 @@ class ColumbusEnv(gym.Env):
self._step_timers() self._step_timers()
self._step_entities() self._step_entities()
observation = self.observable.get_observation() observation = self.observable.get_observation()
gotRew = self.new_reward > 0 or self.new_abs_reward > 0
reward, self.new_reward, self.new_abs_reward = self.new_reward / \ reward, self.new_reward, self.new_abs_reward = self.new_reward / \
self.fps + self.new_abs_reward, 0, 0 self.fps + self.new_abs_reward, 0, 0
if not self.torus_topology: if not self.torus_topology:
@ -210,7 +215,7 @@ class ColumbusEnv(gym.Env):
if self.aux_reward_max: if self.aux_reward_max:
reward += self._get_aux_reward() reward += self._get_aux_reward()
done = self.die_on_zero and self.score <= 0 or self.return_on_score != - \ done = self.die_on_zero and self.score <= 0 or self.return_on_score != - \
1 and self.score > self.return_on_score 1 and self.score > self.return_on_score or self.terminate_on_reward and gotRew
info = {'score': self.score, 'reward': reward} info = {'score': self.score, 'reward': reward}
self._rendered = False self._rendered = False
if done: if done:
@ -268,6 +273,7 @@ class ColumbusEnv(gym.Env):
self.entities = [] self.entities = []
self.timers = [] self.timers = []
self.agent = entities.Agent(self) self.agent = entities.Agent(self)
self.agent.draw_path = self.agent_draw_path
self.setup() self.setup()
self.entities.append(self.agent) # add it last, will be drawn on top self.entities.append(self.agent) # add it last, will be drawn on top
self.observable.reset() self.observable.reset()
@ -384,6 +390,7 @@ class ColumbusEnv(gym.Env):
if mode == 'human' and dont_show: if mode == 'human' and dont_show:
return return
self.screen.blit(self.surface, (0, 0)) self.screen.blit(self.surface, (0, 0))
self.screen.blit(self.path_overlay, (0, 0))
self._draw_observable(forceDraw=mode != 'human') self._draw_observable(forceDraw=mode != 'human')
self._draw_joystick(forceDraw=mode != 'human') self._draw_joystick(forceDraw=mode != 'human')
if chol != None: if chol != None: