columbus/env.py

@@ -179,7 +179,6 @@ class ColumbusEnv(gym.Env):
         self.setup()
         self.entities.append(self.agent)  # add it last, will be drawn on top
         self._seed(self.env_seed)
-        self.observable._entities = None
         return self.observable.get_observation()
 
     def _draw_entities(self):
@@ -339,9 +338,9 @@ class ColumbusEasierObstacles(ColumbusEnv):
             self.entities.append(enemy)
 
 
-class ColumbusJustState(ColumbusEnv):
+class ColumbusRewardEnemyPID(ColumbusEnv):
     def __init__(self, observable=observables.StateObservable(), fps=30, env_seed=None):
-        super(ColumbusJustState, self).__init__(
+        super(ColumbusRewardEnemyPID, self).__init__(
             observable=observable,  fps=fps)
         self.aux_reward_max = 0.1
 
@@ -360,10 +359,10 @@ class ColumbusJustState(ColumbusEnv):
             self.entities.append(reward)
 
 
-class ColumbusStateWithBarriers(ColumbusEnv):
+class ColumbusRewardEnemyPIDWithBarriers(ColumbusEnv):
-    def __init__(self, observable=observables.StateObservable(coordsAgent=True, speedAgent=False, coordsRelativeToAgent=False, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=True, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=False, include_rand=True), fps=30, env_seed=3.1):
+    def __init__(self, observable=observables.StateObservable(), fps=30, env_seed=3.1):
-        super(ColumbusStateWithBarriers, self).__init__(
+        super(ColumbusRewardEnemyPIDWithBarriers, self).__init__(
-            observable=observable,  fps=fps, env_seed=env_seed)
+            observable=observable,  fps=fps)
         self.aux_reward_max = 0.01
         self.start_pos = (0.5, 0.5)
 
@@ -419,9 +418,3 @@ register(
     entry_point=ColumbusEasyObstacles,
     max_episode_steps=30*60*2,
 )
-
-register(
-    id='ColumbusStateWithBarriers-v0',
-    entry_point=ColumbusStateWithBarriers,
-    max_episode_steps=30*60*2,
-)

columbus/humanPlayer.py

@@ -8,7 +8,7 @@ from observables import Observable, CnnObservable
 
 def main():
     #env = ColumbusTest3_1(fps=30)
-    env = ColumbusStateWithBarriers(fps=30)
+    env = ColumbusEasierObstacles(fps=30)
     env.start_pos = [0.6, 0.3]
     playEnv(env)
     env.close()
@@ -17,6 +17,7 @@ def main():
 def playEnv(env):
     env.reset()
     done = False
+    to = 0
     while not done:
         t1 = time()
         env.render()

columbus/observables.py

@@ -186,34 +186,32 @@ class StateObservable(Observable):
 
     @property
     def entities(self):
-        if not self._entities == None:
+        if self._entities:
             return self._entities
-        rewardsWhitelist = self.rewardsWhitelist or self.env.entities
+        self.env.setup()
-        enemysWhitelist = self.enemysWhitelist or self.env.entities
+        self.rewardsWhitelist = self.rewardsWhitelist or self.env.entities
+        self.enemysWhitelist = self.enemysWhitelist or self.env.entities
         self._entities = []
         if self.coordsAgent:
             self._entities.append(self.env.agent)
         if self.coordRewards:
-            for entity in rewardsWhitelist:
+            for entity in self.rewardsWhitelist:
                 if isinstance(entity, entities.Reward):
                     self._entities.append(entity)
         if self.coordsEnemys:
-            for entity in enemysWhitelist:
+            for entity in self.enemysWhitelist:
                 if isinstance(entity, entities.Enemy):
                     if not self.enemysNoBarriers or not isinstance(entity, entities.Barrier):
                         self._entities.append(entity)
         if self.rewardsTimeouts:
-            for entity in enemysWhitelist:
+            for entity in self.enemysWhitelist:
                 if isinstance(entity, entities.TimeoutReward):
                     self._timeoutEntities.append(entity)
         return self._entities
 
     def get_observation_space(self):
-        self.env.setup()
-        num = len(self.entities)*2+len(self._timeoutEntities) + \
-            self.speedAgent + self.include_rand
         return spaces.Box(low=0-1*self.coordsRelativeToAgent, high=1,
-                          shape=(num,), dtype=np.float32)
+                          shape=(len(self.entities)*2+len(self._timeoutEntities) + self.speedAgent + self.include_rand,), dtype=np.float32)
 
     def get_observation(self):
         obs = []
@@ -241,10 +239,4 @@ class StateObservable(Observable):
         return np.array(obs)
 
     def draw(self):
-        for i in range(int(len(self.obs)/2)):
+        pass
-            x, y = self.obs[i*2], self.obs[i*2+1]
-            col = self.entities[i].col
-            pygame.draw.circle(self.env.screen, col,
-                               (0, y*self.env.height), 1, width=0)
-            pygame.draw.circle(self.env.screen, col,
-                               (x*self.env.width, 0), 1, width=0)