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Implemented Rectangles (no Raycasting yet...)

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dodox
2022-09-13 22:14:17 +02:00
parent 908685b2f5
commit c34d266ea5
3 changed files with 295 additions and 77 deletions
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columbus/env.py
+182 -65
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@@ -45,7 +45,7 @@ def parseObs(obsConf):
class ColumbusEnv(gym.Env):
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=0.02, 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):
super(ColumbusEnv, self).__init__()
self.action_space = spaces.Box(
low=-1, high=1, shape=(2,), dtype=np.float32)
@@ -79,6 +79,7 @@ class ColumbusEnv(gym.Env):
self.aux_reward_discretize = aux_reward_discretize
# 0 = dont discretize; how many steps (along diagonal)
self.aux_reward_discretize = 0
self.penalty_from_edges = False
self.draw_observable = True
self.draw_joystick = True
self.draw_entities = True
@@ -169,8 +170,13 @@ class ColumbusEnv(gym.Env):
aux_reward += reward
elif isinstance(entity, entities.Enemy):
if entity.radiateDamage:
penalty = self.aux_penalty_max / \
(1 + self.sq_dist(entity.pos, self.agent.pos))
if self.penalty_from_edges:
penalty = self.aux_penalty_max / \
(1 + self.sq_dist(entity.pos,
self.agent.pos) - entity.radius - self.agent.redius)
else:
penalty = self.aux_penalty_max / \
(1 + self.sq_dist(entity.pos, self.agent.pos))
if self.aux_reward_discretize:
penalty = int(penalty*self.aux_reward_discretize*2) / \
@@ -220,12 +226,16 @@ class ColumbusEnv(gym.Env):
other.on_collision(entity, depth)
def _check_collision_between(self, e1, e2):
e = [e1, e2]
e.sort(key=lambda x: x.shape)
e1, e2 = e
shapes = [e1.shape, e2.shape]
shapes.sort()
if shapes == ['circle', 'circle']:
dist = math.sqrt(((e1.pos[0]-e2.pos[0])*self.width) ** 2
+ ((e1.pos[1]-e2.pos[1])*self.height)**2)
return max(0, e1.radius + e2.radius - dist)
elif shapes == ['circle', 'rect']:
return sum([abs(d) for d in e1._get_crash_force_dir(e2)])
else:
raise Exception(
'Checking for collision between unsupported shapes: '+str(shapes))
@@ -406,6 +416,29 @@ class ColumbusTest3_1(ColumbusEnv):
self.entities.append(reward)
class ColumbusTestRect(ColumbusEnv):
def __init__(self, observable=observables.Observable(), fps=30, aux_reward_max=1, **kw):
super().__init__(
observable=observable, fps=fps, env_seed=3.3, aux_reward_max=aux_reward_max, controll_type='ACC', **kw)
self.start_pos = [0.5, 0.5]
self.score = 0
def setup(self):
self.agent.pos = self.start_pos
for i in range(1):
enemy = entities.RectBarrier(self)
enemy.width = self.random()*40+50
enemy.height = self.random()*40+50
self.entities.append(enemy)
for i in range(1):
enemy = entities.CircleBarrier(self)
enemy.radius = self.random()*40+50
self.entities.append(enemy)
for i in range(1):
reward = entities.TeleportingReward(self)
self.entities.append(reward)
class ColumbusTestRay(ColumbusTest3_1):
def __init__(self, observable=observables.RayObservable(), hide_map=False, fps=30, **kw):
super(ColumbusTestRay, self).__init__(
@@ -421,6 +454,74 @@ class ColumbusRayDrone(ColumbusTestRay):
self.agent_drag = 0.02
class ColumbusDemoEnv3_1(ColumbusEnv):
def __init__(self, observable=observables.Observable(), fps=30, aux_reward_max=1, **kw):
super().__init__(
observable=observable, fps=fps, env_seed=3.1, aux_reward_max=aux_reward_max, controll_type='ACC', agent_drag=0.05, **kw)
self.start_pos = [0.6, 0.3]
self.score = 0
def setup(self):
self.agent.pos = self.start_pos
for i in range(18):
enemy = entities.CircleBarrier(self)
enemy.radius = self.random()*40+50
self.entities.append(enemy)
for i in range(0):
enemy = entities.FlyingChaser(self)
enemy.chase_acc = self.random()*0.4*0.3 # *0.6+0.5
self.entities.append(enemy)
for i in range(1):
reward = entities.TeleportingReward(self)
self.entities.append(reward)
class ColumbusDemoEnv2_7(ColumbusEnv):
def __init__(self, observable=observables.Observable(), fps=30, aux_reward_max=1, **kw):
super().__init__(
observable=observable, fps=fps, env_seed=2.7, aux_reward_max=aux_reward_max, controll_type='ACC', agent_drag=0.05, **kw)
self.start_pos = [0.6, 0.3]
self.score = 0
def setup(self):
self.agent.pos = self.start_pos
for i in range(12):
enemy = entities.CircleBarrier(self)
enemy.radius = self.random()*30+40
self.entities.append(enemy)
for i in range(3):
enemy = entities.FlyingChaser(self)
enemy.chase_acc = self.random()*0.4*0.3 # *0.6+0.5
self.entities.append(enemy)
for i in range(1):
reward = entities.TeleportingReward(self)
self.entities.append(reward)
class ColumbusDemoEnvFootball(ColumbusEnv):
def __init__(self, observable=observables.Observable(), fps=30, walkingOpponent=0, flyingOpponent=0, **kw):
super().__init__(
observable=observable, fps=fps, env_seed=1.23, **kw)
self.start_pos = [0.5, 0.5]
self.score = 0
self.walkingOpponents = walkingOpponent
self.flyingOpponents = flyingOpponent
def setup(self):
self.agent.pos = self.start_pos
for i in range(8):
enemy = entities.CircleBarrier(self)
enemy.radius = self.random()*40+50
self.entities.append(enemy)
ball = entities.Ball(self)
self.entities.append(ball)
self.entities.append(entities.TeleportingGoal(self))
for i in range(self.walkingOpponents):
self.entities.append(entities.WalkingFootballPlayer(self, ball))
for i in range(self.flyingOpponents):
self.entities.append(entities.FlyingFootballPlayer(self, ball))
class ColumbusCandyland(ColumbusEnv):
def __init__(self, observable=observables.RayObservable(chans=[entities.Reward, entities.Void], num_rays=16, include_rand=True), hide_map=False, fps=30, env_seed=None, **kw):
super(ColumbusCandyland, self).__init__(
@@ -664,7 +765,7 @@ class ColumbusConfigDefined(ColumbusEnv):
class ColumbusBlub(ColumbusEnv):
def __init__(self, observable=observables.Observable(), env_seed=None, entities=[], fps=30, **kw):
def __init__(self, observable=observables.CompositionalObservable([observables.StateObservable(), observables.RayObservable(num_rays=6, chans=[entities.Enemy])]), env_seed=None, entities=[], fps=30, **kw):
super().__init__(
observable=observable, fps=fps, env_seed=env_seed, default_collision_elasticity=0.8, speed_fac=0.01, acc_fac=0.1, agent_drag=0.06, controll_type='ACC')
@@ -682,11 +783,11 @@ class ColumbusBlub(ColumbusEnv):
###
register(
id='ColumbusBlub-v0',
entry_point=ColumbusBlub,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusBlub-v0',
# entry_point=ColumbusBlub,
# max_episode_steps=30*60*2,
# )
register(
@@ -701,41 +802,41 @@ register(
max_episode_steps=30*60*2,
)
register(
id='ColumbusRayDrone-v0',
entry_point=ColumbusRayDrone,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusRayDrone-v0',
# entry_point=ColumbusRayDrone,
# max_episode_steps=30*60*2,
# )
register(
id='ColumbusCandyland-v0',
entry_point=ColumbusCandyland,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusCandyland-v0',
# entry_point=ColumbusCandyland,
# max_episode_steps=30*60*2,
# )
register(
id='ColumbusCandyland_Aux10-v0',
entry_point=ColumbusCandyland_Aux10,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusCandyland_Aux10-v0',
# entry_point=ColumbusCandyland_Aux10,
# max_episode_steps=30*60*2,
# )
register(
id='ColumbusEasyObstacles-v0',
entry_point=ColumbusEasyObstacles,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusEasyObstacles-v0',
# entry_point=ColumbusEasyObstacles,
# max_episode_steps=30*60*2,
# )
register(
id='ColumbusEasierObstacles-v0',
entry_point=ColumbusEasyObstacles,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusEasierObstacles-v0',
# entry_point=ColumbusEasyObstacles,
# max_episode_steps=30*60*2,
# )
register(
id='ColumbusJustState-v0',
entry_point=ColumbusJustState,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusJustState-v0',
# entry_point=ColumbusJustState,
# max_episode_steps=30*60*2,
# )
register(
id='ColumbusStateWithBarriers-v0',
@@ -743,38 +844,54 @@ register(
max_episode_steps=30*60*2,
)
register(
id='ColumbusCompassWithBarriers-v0',
entry_point=ColumbusCompassWithBarriers,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusCompassWithBarriers-v0',
# entry_point=ColumbusCompassWithBarriers,
# max_episode_steps=30*60*2,
# )
register(
id='ColumbusTrivialRay-v0',
entry_point=ColumbusTrivialRay,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusTrivialRay-v0',
# entry_point=ColumbusTrivialRay,
# max_episode_steps=30*60*2,
# )
register(
id='ColumbusFootball-v0',
entry_point=ColumbusFootball,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusFootball-v0',
# entry_point=ColumbusFootball,
# max_episode_steps=30*60*2,
# )
register(
id='ColumbusComb-v0',
entry_point=ColumbusComp,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusComb-v0',
# entry_point=ColumbusComp,
# max_episode_steps=30*60*2,
# )
register(
id='ColumbusSingle-v0',
entry_point=ColumbusSingle,
max_episode_steps=30*60*2,
)
# register(
# id='ColumbusSingle-v0',
# entry_point=ColumbusSingle,
# max_episode_steps=30*60*2,
# )
register(
id='ColumbusConfigDefined-v0',
entry_point=ColumbusConfigDefined,
max_episode_steps=30*60*2,
)
register(
id='ColumbusDemoEnvFootball-v0',
entry_point=ColumbusDemoEnvFootball,
max_episode_steps=30*60*2,
)
register(
id='ColumbusDemoEnv3_1-v0',
entry_point=ColumbusDemoEnv3_1,
max_episode_steps=30*60*2,
)
register(
id='ColumbusDemoEnv2_7-v0',
entry_point=ColumbusDemoEnv2_7,
max_episode_steps=30*60*2,
)