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Refactoring for dist, new rendering options and a bug-fix (for

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CnnObserv)
This commit is contained in:
Dominik Moritz Roth 2022-06-19 20:32:37 +02:00
parent 40d1129640
commit b04de18a88
1 changed files with 32 additions and 9 deletions
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columbus/env.py
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@ -31,6 +31,7 @@ class ColumbusEnv(gym.Env):
self.acc_fac = 0.03/fps*60 self.acc_fac = 0.03/fps*60
self.die_on_zero = False self.die_on_zero = False
self.return_on_score = -1 # -1 = never self.return_on_score = -1 # -1 = never
self.reward_mult = 1
self.agent_drag = 0 # 0.01 is a good value self.agent_drag = 0 # 0.01 is a good value
self.controll_type = 'SPEED' # one of SPEED, ACC self.controll_type = 'SPEED' # one of SPEED, ACC
self.limit_inp_to_unit_circle = True self.limit_inp_to_unit_circle = True
@ -38,6 +39,7 @@ class ColumbusEnv(gym.Env):
self.aux_reward_discretize = 0 # 0 = dont discretize self.aux_reward_discretize = 0 # 0 = dont discretize
self.draw_observable = True self.draw_observable = True
self.draw_joystick = True self.draw_joystick = True
self.draw_entities = True
self.rng = random_dont_use.Random() self.rng = random_dont_use.Random()
self.reset() self.reset()
@ -77,11 +79,11 @@ class ColumbusEnv(gym.Env):
new_timers.append((time_left, func, arg)) new_timers.append((time_left, func, arg))
self.timers = new_timers self.timers = new_timers
def sq_dist(self, entity1, entity2): def sq_dist(self, pos1, pos2):
return (entity1.pos[0] - entity2.pos[0])**2 + (entity1.pos[1] - entity2.pos[1])**2 return (pos1[0] - pos2[0])**2 + (pos1[1] - pos2[1])**2
def dist(self, entity1, entity2): def dist(self, pos1, pos2):
return math.sqrt(self._sq_dist(entity1, entity2)) return math.sqrt(self.sq_dist(pos1, pos2))
def _get_aux_reward(self): def _get_aux_reward(self):
aux_reward = 0 aux_reward = 0
@ -89,7 +91,7 @@ class ColumbusEnv(gym.Env):
if isinstance(entity, entities.Reward): if isinstance(entity, entities.Reward):
if entity.avaible: if entity.avaible:
reward = self.aux_reward_max / \ reward = self.aux_reward_max / \
(1 + self.sq_dist(entity, self.agent)) (1 + self.sq_dist(entity.pos, self.agent.pos))
if self.aux_reward_discretize: if self.aux_reward_discretize:
reward = int(reward*self.aux_reward_discretize*2) / \ reward = int(reward*self.aux_reward_discretize*2) / \
@ -115,7 +117,8 @@ class ColumbusEnv(gym.Env):
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
info = {'score': self.score, 'reward': reward} info = {'score': self.score, 'reward': reward}
return observation, reward, done, info self._rendered = False
return observation, reward*self.reward_mult, done, info
def check_collisions_for(self, entity): def check_collisions_for(self, entity):
for other in self.entities: for other in self.entities:
@ -164,6 +167,7 @@ class ColumbusEnv(gym.Env):
def reset(self): def reset(self):
pygame.init() pygame.init()
self._rendered = False
self.inp = (0.5, 0.5) self.inp = (0.5, 0.5)
# will get rescaled acording to fps (=reward per second) # will get rescaled acording to fps (=reward per second)
self.new_reward = 0 self.new_reward = 0
@ -193,12 +197,18 @@ class ColumbusEnv(gym.Env):
pygame.draw.circle(self.screen, (100, 100, 100), (20+int(60*x) + pygame.draw.circle(self.screen, (100, 100, 100), (20+int(60*x) +
self.joystick_offset[0], 20+int(60*y)+self.joystick_offset[1]), 20, width=0) self.joystick_offset[0], 20+int(60*y)+self.joystick_offset[1]), 20, width=0)
def render(self, mode='human'): def render(self, mode='human', dont_show=False):
self.visible = True self.visible = self.visible or not dont_show
self._ensure_surface() self._ensure_surface()
pygame.draw.rect(self.surface, (0, 0, 0), pygame.draw.rect(self.surface, (0, 0, 0),
pygame.Rect(0, 0, self.width, self.height)) pygame.Rect(0, 0, self.width, self.height))
self._draw_entities() if self.draw_entities:
self._draw_entities()
else:
self.agent.draw()
self._rendered = True
if dont_show:
return
self.screen.blit(self.surface, (0, 0)) self.screen.blit(self.surface, (0, 0))
self._draw_observable() self._draw_observable()
self._draw_joystick() self._draw_joystick()
@ -217,3 +227,16 @@ class ColumbusTest3_1(ColumbusEnv):
self.start_pos = [0.6, 0.3] self.start_pos = [0.6, 0.3]
self.fps = 30 self.fps = 30
self.score = 0 self.score = 0
self.reward_mult = 0.001
self.aux_reward_max = 1
class ColumbusTestRay(ColumbusEnv):
def __init__(self):
super(ColumbusTestRay, self).__init__(
observable=observables.RayObservable())
self.start_pos = [0.6, 0.3]
self.fps = 30
self.score = 0
self.reward_mult = 0.001
self.aux_reward_max = 1