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Use a tiny heuristics in collision detection

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This commit is contained in:
kngwyu 2020-05-31 16:42:37 +09:00
parent 33032dd48e
commit e4d6338a30
2 changed files with 7 additions and 6 deletions
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2
mujoco_maze/maze_env.py
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@ -535,7 +535,7 @@ class MazeEnv(gym.Env):
old_pos = self.wrapped_env.get_xy() old_pos = self.wrapped_env.get_xy()
inner_next_obs, inner_reward, _, info = self.wrapped_env.step(action) inner_next_obs, inner_reward, _, info = self.wrapped_env.step(action)
new_pos = self.wrapped_env.get_xy() new_pos = self.wrapped_env.get_xy()
if self._collision.is_in(new_pos): if self._collision.is_in(old_pos, new_pos):
self.wrapped_env.set_xy(old_pos) self.wrapped_env.set_xy(old_pos)
else: else:
inner_next_obs, inner_reward, _, info = self.wrapped_env.step(action) inner_next_obs, inner_reward, _, info = self.wrapped_env.step(action)

5
mujoco_maze/maze_env_utils.py
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@ -134,8 +134,9 @@ class Collision:
max_x = x_base + size_scaling * offset(pos, 3) max_x = x_base + size_scaling * offset(pos, 3)
self.objects.append((min_y, max_y, min_x, max_x)) self.objects.append((min_y, max_y, min_x, max_x))
def is_in(self, new_pos) -> bool: def is_in(self, old_pos, new_pos) -> bool:
x, y = new_pos # Heuristics to prevent the agent from going through the wall
for x, y in ((old_pos + new_pos) / 2, new_pos):
for min_y, max_y, min_x, max_x in self.objects: for min_y, max_y, min_x, max_x in self.objects:
if min_x <= x <= max_x and min_y <= y <= max_y: if min_x <= x <= max_x and min_y <= y <= max_y:
return True return True