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Fixed value_func- and path-rendering not working

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This commit is contained in:
Dominik Moritz Roth 2022-10-16 18:58:32 +02:00
parent 70536b79e7
commit e371d871e6
2 changed files with 19 additions and 11 deletions
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24
columbus/env.py
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@ -298,7 +298,7 @@ class ColumbusEnv(gym.Env):
for entity in self.entities: for entity in self.entities:
entity.draw() entity.draw()
def _draw_values(self, value_func, static=True, resolution=64, color_depth=255): def _draw_values(self, value_func, static=True, resolution=64, color_depth=192):
if not (static and self._has_value_map): if not (static and self._has_value_map):
agentpos = self.agent.pos agentpos = self.agent.pos
agentspeed = self.agent.speed agentspeed = self.agent.speed
@ -308,7 +308,7 @@ class ColumbusEnv(gym.Env):
obs = [] obs = []
for i in range(resolution): for i in range(resolution):
for j in range(resolution): for j in range(resolution):
x, y = i*(self.width/resolution), j * \ x, y = (i+0.5)*(self.width/resolution), (j+0.5) *\
(self.height/resolution) (self.height/resolution)
self.agent.pos = x, y self.agent.pos = x, y
ob = self.observable.get_observation() ob = self.observable.get_observation()
@ -317,22 +317,24 @@ class ColumbusEnv(gym.Env):
self.agent.speed = agentspeed self.agent.speed = agentspeed
V = value_func(th.Tensor(obs)) V = value_func(th.Tensor(obs))
V -= V.min() V /= max(V.max(), -1*V.min())*2
V /= V.max() V += 0.5
c = 0 c = 0
for i in range(resolution): for i in range(resolution):
for j in range(resolution): for j in range(resolution):
v = V[c] v = V[c]
c += 1 c += 1
col = [int((1-c)*color_depth), int(c*color_depth), 0] col = [int((1-v)*color_depth),
int(v*color_depth), 0, color_depth]
x, y = i*(self.width/resolution), j * \ x, y = i*(self.width/resolution), j * \
(self.height/resolution) (self.height/resolution)
rect = pygame.Rect(x, y, self.env.width/resolution, rect = pygame.Rect(x, y, int(self.width/resolution)+1,
self.height/resolution) int(self.height/resolution)+1)
pygame.draw.rect(self.value_overlay, col, pygame.draw.rect(self.value_overlay, col,
rect, width=0) rect, width=0)
self.screen.blit(self.value_overlay, (0, 0)) self.surface.blit(self.value_overlay, (0, 0))
self._has_value_map = True
def _draw_observable(self, forceDraw=False): def _draw_observable(self, forceDraw=False):
if self.draw_observable and (self.visible or forceDraw): if self.draw_observable and (self.visible or forceDraw):
@ -433,6 +435,9 @@ class ColumbusEnv(gym.Env):
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))
if value_func != None:
self._draw_values(value_func, values_static)
self.surface.blit(self.path_overlay, (0, 0))
if self.draw_entities: if self.draw_entities:
self._draw_entities() self._draw_entities()
else: else:
@ -440,9 +445,6 @@ class ColumbusEnv(gym.Env):
self._rendered = True self._rendered = True
if mode == 'human' and dont_show: if mode == 'human' and dont_show:
return return
if value_func != None:
self._draw_values(value_func, values_static)
self.screen.blit(self.path_overlay, (0, 0))
self.screen.blit(self.surface, (0, 0)) self.screen.blit(self.surface, (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')

6
columbus/humanPlayer.py
View File

@ -1,3 +1,4 @@
import torch as th
from time import sleep, time from time import sleep, time
import numpy as np import numpy as np
import pygame import pygame
@ -69,11 +70,16 @@ def chooseEnv():
return Env(fps=30) return Env(fps=30)
def value_func(obs):
return th.rand(obs.shape[0])-0.5
def playEnv(env): def playEnv(env):
done = False done = False
env.reset() env.reset()
while not done: while not done:
t1 = time() t1 = time()
# env.render(value_func=value_func)
env.render() env.render()
pos = (0.5, 0.5) pos = (0.5, 0.5)
pos = pygame.mouse.get_pos() pos = pygame.mouse.get_pos()